Operational Tasks Research Articles

The Role of the School’s Principal in Improving Performance of School's Administration

This study intends to identify, characterize, and assess the principal of SMP Negeri 4 Penukal Utara’s contribution to raising the caliber of school administration. The analytical method employs methods for descriptive quantitative analysis. In this study, information was gathered through interviews, observation, documentation, and literature reviews. According to the study’s findings, the principal of the school assumed the role of head of administration when performing administrative and informational administrative tasks. The school principal’s function as head of administration, together with the administrative staff’s performance, is carried out in line with operational requirements for school administration and positively affects how smoothly teaching and learning activities are carried out. The study’s conclusion is that the school principal’s position has ramifications for the execution of obligations and functions supporting the execution of operational tasks that facilitate the development of the school as a whole.

Risk and Reliability Improvement Analysis of Boiler System Using the Failure Mode Effect Analysis & Critical Analysis (FMECA) Method

Electrical energy is a vital source of energy for human life. Currently, various power plants can provide electrical energy, one of which is the Steam Power Plant (PLTU). A PLTU must carry out operational tasks repeatedly and continuously to meet electricity needs. Based on historical data for PT. PJB Service Kendari for the last three years, there has been an increasing trend of downtime and derating at PLTU Nii Tanasa Kendari in the 2019–2021 timeframe. The boiler system is one of the systems that often experiences disturbances. FMECA is required to carry out a risk analysis to find out in detail the causes, effects, impacts, and ways of mitigating risks, as well as sorting and labeling risks for critical components based on the RPN value. The boiler itself is the main component and is supported by other components in the steam-water process. The reliability value is determined after the critical component with a high level of risk is marked “Not Accepted”. The findings of the risk and reliability analysis will be used to mitigate risks and increase the value of the reliability of critical components. The results of reliability calculations based on MTTF found that 9 out of 13 critical components had a reliability value below 50%; increasing reliability values could be achieved using preventive maintenance (Rm(t)), and maintaining reliability values above 60% could be achieved using periodic component replacement (R(t-nT)) based on the MTTR data of each critical component.

Basal forebrain parvalbumin neurons modulate vigilant attention and rescue deficits produced by sleep deprivation.

Attention is impaired in many neuropsychiatric disorders, as well as by sleep disruption, leading to decreased workplace productivity and increased risk of accidents. Thus, understanding the neural substrates is important. Here we test the hypothesis that basal forebrain neurons that contain the calcium-binding protein parvalbumin modulate vigilant attention in mice. Furthermore, we test whether increasing the activity of basal forebrain parvalbumin neurons can rescue the deleterious effects of sleep deprivation on vigilance. A lever release version of the rodent psychomotor vigilance test was used to assess vigilant attention. Brief and continuous low-power optogenetic excitation (1 s, 473 nm @ 5 mW) or inhibition (1 s, 530 nm @ 10 mW) of basal forebrain parvalbumin neurons was used to test the effect on attention, as measured by reaction time, under control conditions and following 8 hr of sleep deprivation by gentle handling. Optogenetic excitation of basal forebrain parvalbumin neurons that preceded the cue light signal by 0.5 s improved vigilant attention as indicated by quicker reaction times. By contrast, both sleep deprivation and optogenetic inhibition slowed reaction times. Importantly, basal forebrain parvalbumin excitation rescued the reaction time deficits in sleep-deprived mice. Control experiments using a progressive ratio operant task confirmed that optogenetic manipulation of basal forebrain parvalbumin neurons did not alter motivation. These findings reveal for the first time a role for basal forebrain parvalbumin neurons in attention, and show that increasing their activity can compensate for disruptive effects of sleep deprivation.

An adaptive continuous sliding mode feedback linearization task space control for robot manipulators

Two main domains have been followed; joint space control and operational (task) space control for robot manipulators. Task space control is simpler than joint space control as it avoids tackling the robot inverse kinematics which is very complex and challenging. However, in order to design robust and accurate controllers in operational space, both kinematics and dynamics uncertainties must be considered. Additionally, singularities that may occur while mapping between joint space and task space should be addressed. To tackle these issues, a new adaptive task space control approach is developed in this paper. The developed approach is able to overcome uncertainties and mitigate the chattering that commonly occur during the control process. The introduced control system has been proven to be globally stable using a designed Lyapunov function. The simulation results show that the suggested model is able to control the robot manipulators efficiently even in the existence of external disturbances.

Research on Error Correction Technology in Underwater SINS/DVL Integrated Positioning and Navigation

Underwater vehicles are key carriers for underwater inspection and operation tasks, and the successful implementation of these tasks depends on the positioning and navigation equipment with corresponding accuracy. In practice, multiple positioning and navigation devices are often combined to integrate the advantages of each equipment. Currently, the most common method for integrated navigation is combination of the Strapdown Inertial Navigation System (SINS) and Doppler Velocity Log (DVL). Various errors will occur when SINS and DVL are combined together, such as installation declination. In addition, DVL itself also has errors in the measurement of speed. These errors will affect the final accuracy of the combined positioning and navigation system. Therefore, error correction technology has great significance for underwater inspection and operation tasks. This paper takes the SINS/DVL integrated positioning and navigation system as the research object and deeply studies the DVL error correction technology in the integrated system.

Space manipulator optimal impedance control using integral reinforcement learning

This paper examines the optimal impedance control problem for large-scale space manipulator operational tasks with unknown contact dynamics and partial measurements. More specifically, by quantifying the interaction performance using a discounted value function, the optimal impedance control problem is tactfully transformed into a linear quadratic tracking problem. By resorting to the historical inputs and outputs, an improved state reconstruction method is presented, which obviates the velocity measurement. Unlike the existing state reconstruction method for continuous-time systems, the estimation bias caused by probing noise is completely eliminated under the improved state reconstruction method. Based on this, a novel model-free value iteration integral reinforcement learning algorithm is developed to approximate optimal impedance parameters. Compared with the earlier integral reinforcement learning algorithms, the proposed algorithm not only averts any prior contact dynamics knowledge and full-state measurements, but also eliminates the heavy dependence on the specific initial stabilization control. In addition, the implementation and convergence of the proposed algorithm are discussed successively. Finally, numerical simulations verify the effectiveness of the theoretical results.

Design, modeling, and manufacturing of a novel robust gripper-based climbing robot: KharazmBot

AbstractThere are a lot of high-height structures that should be inspected or manipulated frequently due to maintenance purposes. According to the safety considerations and time or cost limitations, substituting the human operator with an automatic robot is inevitable. The main objective of this paper is to design and manufacture a novel climbing robot equipped with grip-based locomotion system which can climb through scaffold structures and trusses to accomplish inspectional and operational tasks. The proposed robot has good maneuverability and stability. The proposed robot is manufactured in order to verify the simulation results with experimental data. The chassis and its corresponding grippers are designed first, and the corresponding model of the system is extracted. This model is used then for designing the controlling strategy of the system. The path planning of the robot is conducted to realize the climbing process by the robot during several steps in an optimum way. The prototype of the proposed robot is manufactured at Kharazmi University called KharazmBot. Experimental results not only show the capability of the manufactured robot toward ascending the mentioned structures but also prove its high stability as a result of its designed gripper and also its good maneuverability as a result of its over-actuated mechanism. Thus, it is concluded that the designed and manufactured climbing robot of this paper can successfully ascend through the pipes and trusses and perform a desired inspectional or operational task with good accuracy and safety while its stability is also satisfied.

Analysis and Optimization of Motion Coupling for the Coordinated Operation of Flexible Multi-Arm Space Robots

This paper presents a novel approach for analyzing and optimizing motion coupling in the coordinated operation tasks of flexible space multi-arm robots (FMSRs). The method integrates motion coupling between multiple arms and system stiffness to improve the motion and force accuracy of FMSRs by optimizing the configuration. First, a comprehensive model of an FMSR is established using the hypothetical modal method. Then, the motion coupling relationship among multiple arms is analyzed, and a motion coupling degree evaluation index is developed. Furthermore, the constraint relationship of coordinated operation is analyzed, and an equivalent stiffness model for the coordinated operation of the FMSR is formulated along with a stiffness evaluation index. Based on these analyses, the motion trajectory of the FMSR is optimized by comprehensively considering both the motion coupling degree and the equivalent stiffness factors. Finally, numerical simulation experiments are conducted to validate the proposed method, and the results show that the accuracy of the FMSR can be improved by 40% using this approach.

Quality of working life of scientific and pedagogical workers: determinants and evaluation indicators

The new realities caused by military actions as a result of russian aggression have led to adverse consequences for the Ukrainian economy, which negatively affects the state of higher education, in particular the quality of working life of workers in this area. In such circumstances, Ukraine needs to take measures to improve the quality of the working life of scientific and pedagogical workers and improve the methodology for its assessment. The purpose of the paper is to theoretically substantiate the determinants of the quality of the working life of scientific and pedagogical workers and to provide a scientific and methodological justification for the system of indicators for its assessment. The study analyzes scientific approaches to the concept, essence and assessment of the quality of the working life of scientific and pedagogical workers. It also classifies the determinants of the quality of their working life, the main of which are financial, organizational and legal, managerial, and security. The following key components of the quality of working life are identified: compensatory (material), “decent working conditions”, “social security”, “development and self-realization”. The author’s approach to understanding the concept of the quality of working life of scientific and pedagogical workers and its assessment is presented. Based on the principles of the Strategy for the Development of Higher Education in Ukraine for 2021–2031, compiled by the Ministry of Education and Science of Ukraine, a system of indicators of the quality of working life of scientific and pedagogical workers has been formed that correspond to its strategic goals and operational tasks.

Review and assessment of technical and legal challenges in application of unmanned aerial vehicles in monitoring and inspection of bridges

Abstract Intelligent transportation systems (ITSs) initiated a paradigm shift in the operation and management of transportation infrastructure by automating data collection, processing, and management. The drive toward using robotics to automate operational tasks in infrastructure management has gained significant momentum in recent years, with the introduction of unmanned aerial vehicles (UAVs), widely known as drones, being a notable milestone in this endeavor. UAVs reduced cost, time, and labor for tasks such as bridge monitoring while accelerating speed and precision such as structural scanning. Although not explicitly classified within the existing ITS categories, UAVs are becoming widely acknowledged as a valuable tool for improving the intelligent operation and management of transportation systems. Their potential to gather and transmit data in real time offers new opportunities for more accurate and timely decision-making as well as improved safety and efficiency within transportation infrastructure. Nevertheless, significant concerns remain regarding the use of UAVs, particularly in busy highways or densely populated metropolitan areas. Engineering and technical challenges, privacy and safety concerns, potential liabilities, and audio-visual disturbance for the public are among the issues that have impeded the widespread adoption and full integration of UAVs as complementary tools for ITS. This paper conducts a comprehensive review of the potential applications of UAVs for infrastructure and bridge structural health monitoring, while also evaluating the challenges associated with their utilization in this context. Furthermore, the paper discusses the ramifications of these challenges and emphasizes the areas that necessitate further attention and investigation by future research.

Association between Electronic Health Record Implementations and Hospital-Acquired Conditions in Pediatric Hospitals.

Implementing an electronic health record (EHR) is one of the most disruptive operational tasks a health system can undergo. Despite anecdotal reports of adverse events around the time of EHR implementations, there is limited corroborating research, particularly in pediatrics. We utilized data from Solutions for Patient Safety (SPS), a network of 145+ children's hospitals that share data and protocols to reduce harm in pediatric care delivery, to study the impact of EHR implementations on patient safety. Determine if there is an association between the time immediately surrounding an EHR implementation and hospital-acquired conditions (HACs) rates in pediatrics. A survey of information technology leaders at pediatric institutions identified EHR implementations occurring between 2012 and 2022. This list was cross-referenced with the SPS database to create an anonymized dataset of 27 sites comprising monthly HAC and care bundle compliance rates in the 7 months preceding and succeeding the transition. Six HACs were analyzed: central-line associated bloodstream infection (CLABSI), catheter-associated urinary tract infection (CAUTI), adverse drug events, surgical site infections (SSIs), pressure injuries (PIs), and falls, in addition to four associated care bundle compliance rates: CLABSI and CAUTI maintenance bundles, SSI bundle, and PI bundle. To determine if there was a statistically significant association with EHR implementation, the observation period was divided into three eras: "before" (months -7 to -3), "during" (months -2 to +2), and "after" go-live (months +3 to +7). Average monthly HAC and bundle compliance rates were calculated across eras. Paired t-tests were performed to compare rates between the eras. No statistically significant increase in HAC rates or decrease in bundle compliance rates was observed across the EHR implementation eras. This multisite study detected no significant increase in HACs and no decrease in preventive care bundle compliance in the months surrounding an EHR implementation.

Risk and Reliability Improvement Analysis of Boiler System Using FMECA Method. Case Study : PLTU Nii Tanasa Kendari.

A PLTU must carry out operational tasks continuously to meet electricity needs. Based on historical data PT. PJB Service Kendari for the last three years, there has been an increasing trend of downtime and derating at PLTU Nii Tanasa Kendari. The boiler system is one of the systems that often experiences disturbances. The purpose of this research is to carry out a risk analysis and improve reliability using the FMECA method and reliability calculations. FMECA is required to carry out a risk analysis to find out in detail ways of mitigating risks, sorting and labeling risks for critical components based on the RPN. The results of reliability calculations based on MTTF found that 9 out of 13 critical components had a reliability value below 50%; increasing reliability values could be achieved using preventive maintenance (Rm(t)), and maintaining reliability values above 60% could be achieved using periodic component replacement (R(t-nT)).

Design of a decentralized Internet-based control system for industrial robot robotic arms

Abstract To meet the needs of small and medium-sized processing plants by establishing a software and hardware platform for a robotic arm control system with a hierarchical structure and designing a robot robotic arm motion control system that is adaptable to multiple environments and cost-effective. In this paper, the industrial robot robotic arm motion control system is designed based on the consistent fusion tracking algorithm under the decentralized Internet. While using the VisualC++ development environment for writing human-machine interface programs using the MFC framework, the device controls the robotic arm body to complete predetermined movements or operational tasks based on command information, sensing information, and the robot controller. The AMS1086CD-3.3 low-voltage differential linear regulator chip used in this design effectively implements the circuit design from 4.8V to 3.4V and successfully meets the 3.4V voltage supply required by the controller. The industrial robot robotic arm control system adopts an adaptive backstepping algorithm controller, and the error of the tracking system at 0 seconds in the simulation results is always kept within the range of [-1~1] that meets the requirements, which effectively reduces the control error of the robotic arm position. Therefore, the robotic arm control studied in this paper is composed of a complete control system in hardware and software, and the designed adaptive backstepping algorithm controller achieves the demand for good control performance of the robotic arm proper.

The Influence of Strategic-Based View and Strategic Orientation on the Organizational Performance of the Indonesian Navy in Maintaining the Regional Security Stability in South China Sea Mediated by Strategic Coordinating Management

The main objective of this study is to analyze the strategic resources based view and strategic orientation of the organizational performance of the Indonesian Navy in maintaining the regional security stability in South China Sea mediated by strategic coordinating management. The sample in this study were the personnel of the Operations Staff and the Intelligence Staff of the Indonesian Navy Headquarters, the First Fleet Command Jakarta, The First Sea Battle Task Force, and Ranai Naval Base, as well as officers crew of the First Fleet Command’s Indonesian Warships. The first to occupy positions in the field of operational planning and carrying out operational tasks in the field were 231 people. The data obtained was analyzed using SEM (Structural Equation Modeling) with the SPSS program version 22.0 and Smart PLS version 3. The finding of this study show that the direct strategic resources based view, strategic orientation and strategic coordinating management hypotheses affect the organizational performance. The result of the study also shows that there is a correlation between strategic resources based view and strategic orientation towardsstrategic coordinating management. Meanwhile,the result of the indirect hypothesis also claims that strategic resource-based view and strategic orientation affect the organizational performance mediated by strategic coordinating management. The Strategic Resources Based View positively shows that the Tangible Assets of the Indonesian Navy are still able to support operational units in the Natuna Sea and the Intangible Assets of the Indonesian Navy, Competence, Credibility and Capabilities of the Indonesian Navy soldiers in protecting the waters of the Natuna Sea and the Indonesian Navy's Capability is still capable of maintaining state’s sovereignty in Natuna Sea which is also the main task of the Indonesian Navy.

Learning Pose Dynamical System for Contact Tasks under Human Interaction

Robots are expected to execute various operation tasks like a human by learning human working skills, especially for complex contact tasks. Increasing demands for human–robot interaction during task execution makes robot motion planning and control a considerable challenge, not only to reproduce demonstration motion and force in the contact space but also to resume working after interacting with a human without re-planning motion. In this article, we propose a novel framework based on a time-invariant dynamical system (DS), taking into account both human skills transfer and human–robot interaction. In the proposed framework, the human demonstration trajectory was modeled by the pose diffeomorphic DS to achieve online motion planning. Furthermore, the motion of the DS was modified by admittance control to satisfy different demands. We evaluated the method with a UR5e robot in the contact task of the composite woven layup. The experimental results show that our approach can effectively reproduce the trajectory and force learned from human demonstration, allow human–robot interaction safely during the task, and control the robot to return to work automatically after human interaction.

Effect of Fatigue on Movement Patterns During a Loaded Ruck March.

Loaded ruck marching is a common training and operational task for many members of the military. It is known to cause fatigue, affect soldier readiness, and can lead to traumatic and overuse injuries. Quantifying the gait changes that occur over the course of a loaded ruck march may provide a better understanding of injury mechanisms and potentially allow for development of individualized injury-prevention training programs. This study examined the change in soldiers' gait patterns over the course of a loaded ruck march in order to examine the correlation between fatigue and kinematic parameters. Fatigue is a subjective term that may encompass factors such as energy expenditure, muscle exhaustion, and cognitive engagement. Since it can be difficult to quantify, the current study makes the broad assumption that fatigue increases in some (potentially nonlinear) fashion during a loaded ruck march. Three platoons of soldiers participated in a field training exercise with inertial measurement sensors placed on their chests and ankles to record gait parameters throughout a 7-mile ruck march. The effects of fatigue on stride length, stride width, ankle yaw, and torso lean (anterior-posterior [AP] and side-to-side [SS]) were compared using one-way repeated measure analyses of variance. In comparing the first and last quarters of the ruck march, stride length decreased, stride width increased, stride width variability increased, AP torso lean variability increased, and SS torso lean variability increased. Although they do not describe a direct relationship to injury, these results can inform enhanced approaches to quantify and predict soldier fatigue and more reliably prevent future injury.

Real-time ridesharing operations for on-demand capacitated systems considering dynamic travel time information

Urban mobility is facing a paradigm shift towards providing more convenient, environmentally friendly, and on-demand services. Satisfying customer needs in a cost-efficient way has been the goal of many ridesharing systems. Capacitated ridesharing is considered as an effective service for reducing traffic congestion and pollution nowadays. Providing more operational strategies that can optimize on-demand ridesharing needs further investigation. In the current work, we focus on developing a matching algorithm for solving the on-demand ridesharing operation task in a real-time setting. We develop a simulation framework that can be used to propose a real-time shuttle ridesharing search algorithm. We propose a novel, computationally efficient, real-time ridesharing algorithm. We formulate the ridesharing assignment algorithm as a combinatorial optimization problem. The computational complexity of the proposed algorithm is reduced from exponential to linear, and the search space of the optimization problem is reduced by introducing heuristics. Our approach implements dynamic congestion by regularly updating the network’s road segments’ travel time during the simulation horizon to have more realistic results. We demonstrate how our algorithm, when applied to the New York City taxi dataset, provides a clear advantage over the current taxi fleet in terms of service rate. Furthermore, the developed simulation framework can provide valuable insights regarding cost functions and operational policies.

Integrating condition-based monitoring with process sensors information for operation and maintenance in a functional modeling framework

Safe operations and adequate maintenance are two main means to achieve reliable production and reduce downtime of a plant. While the tasks of operations and maintenance are carried out by two different groups of staff, as a result, the close relationship between the two tasks is split. In this paper, this challenge is handled by a proposed integrated functional modeling framework. In this framework, the Multilevel Flow Modeling (MFM) method with its cause-consequence reasoning rules is used. Condition-based monitoring is a well-accepted strategy for predictive maintenance and fault detection based on measurements is a well-developed technology for operation support. Information fusion including monitoring conditions of assets and process sensors information for both operation and maintenance in the same modeling framework is desired. The qualitative relationship distribution between operations and maintenance can be established based on the function states of the system. In addition, these relationships are visible for both groups of staff. As a result, the detected information in the early stage of the development of the unpleasant scenarios is used to improve their situation awareness, so that the undesired emergency shutdown from both perspectives of operation and maintenance is prevented. Consequently, it can reduce production loss. A case study of operations and maintenance of a seawater injection system is carried out and shows the industrial applicability of the proposed framework. The case study strongly reveals that there is a highly close relation between operation and maintenance for ensuring the system working properly. It demonstrates that the proposed integrated framework is not only able to support operational tasks but also for the maintenance tasks by including relevant maintenance information of the system. The results show that it can potentially help with decreasing downtime of the system.

Military Intelligence in Support of EU Missions and Operations: Bridging the Strategic Vulnerability Gap

The broad range of European Union (EU) missions and operations sets out the requirement of strategic awareness and situational assessments for effective fulfillment of operational tasks in the areas of EU-led activities. Building on the concept of coercive isomorphism, this article argues that intelligence support for common security and defense policy activities has been limited and contentious because of the vulnerability gap caused by patterns enforced by member states. Priority for national interests and assets hinders the logic of reciprocity. It lowers the value of synergetic links between the intelligence services of member states and relevant EU agencies and bodies. Regardless of numerous obstacles and limitations, the strategic vulnerability gap has been slowly bridged thanks to the development and implementation of more reliable mechanisms of intelligence cooperation within the EU.

No Evidence for Cognitive Impairment in an Experimental Rat Model of Knee Osteoarthritis and Associated Chronic Pain

Although chronic pain states have been associated with impaired cognitive functions, including memory and cognitive flexibility, the cognitive effects of osteoarthritis (OA) pain remain to be clarified. The aim of this study was to measure cognitive function in the mono-iodoacetate (MIA) rat model of chronic OA-like knee pain. We used young adult male Lister hooded rats, which are well-suited for cognitive testing. Rats received either a unilateral knee injection of MIA (3 mg/50 µL) or saline as control. Joint pain at rest was assessed for up to 12 weeks, using weight-bearing asymmetry, and referred pain at a distal site, using determination of hindpaw withdrawal thresholds. The watermaze delayed-matching-to-place test of rapid place learning, novel object recognition memory assay, and an operant response-shift and -reversal task were used to measure memory and behavioral flexibility. Open-field locomotor activity, startle response, and prepulse inhibition were also measured for comparison. MIA-injected rats showed markedly reduced weight-bearing on the injured limb, as well as pronounced cartilage damage and synovitis, but interestingly no changes in paw withdrawal threshold. Rearing was reduced, but otherwise, locomotor activity was normal and no changes in startle and prepulse inhibition were detected. MIA-injected rats had intact watermaze delayed-matching-to-place performance, suggesting no substantial change in hippocampal function, and there were no changes in novel object recognition memory or performance on the operant task of behavioral flexibility. Our finding that OA-like pain does not alter hippocampal function, unlike other chronic pain conditions, is consistent with human neuroimaging findings. PerspectiveYoung adult rats with OA-like knee pain showed no impairments in hippocampal memory function and behavioral flexibility, suggesting that OA pain impacts cognitive functions less than other chronic pain conditions. In patients, OA pain may interact with other factors (e.g., age, socio-economic factors, and medication) to impair cognition.