\r\n\tBook, “Mites, Ticks and Humans", is written by keeping in vision non-availability of any standard text dealing in different aspects of acarology at one place. Separate chapters in this book are devoted to medical importance of mites and ticks; ectoparasites, endoparasites and disease transmitting mites; classification, biology and epidemiology of dust mites; manifestations, diagnostics and preventions of dust mites allergy; ticks transmission of disease causing pathogens; and measures to mitigate mites and ticks. Book will stimulate interest in the readers for more information about different mites and ticks affecting publics. The knowledge contained in the book may prove as best material for graduate and post-graduate level courses, teachers and researchers in entomology, pestss control advisors, professional entomologists, pesticide industry managers, policy planners, and other experts having interest in mites and ticks.
",isbn:null,printIsbn:"979-953-307-X-X",pdfIsbn:null,doi:null,price:0,priceEur:0,priceUsd:0,slug:null,numberOfPages:0,isOpenForSubmission:!1,hash:"1ab684433f948520e8e90a2e74e2801a",bookSignature:"Dr. Muhammad Sarwar",publishedDate:null,coverURL:"https://cdn.intechopen.com/books/images_new/8964.jpg",keywords:"Basic biology, Diversity of lifestyles, Scabies, Mange, Ecosystem, Soil mite, Dust mites allergy, Asthma, Vectors, Dispersal or spreading modes, Pest management, Detection and survey",numberOfDownloads:null,numberOfWosCitations:0,numberOfCrossrefCitations:null,numberOfDimensionsCitations:null,numberOfTotalCitations:null,isAvailableForWebshopOrdering:!0,dateEndFirstStepPublish:"March 28th 2019",dateEndSecondStepPublish:"September 16th 2019",dateEndThirdStepPublish:"November 15th 2019",dateEndFourthStepPublish:"February 3rd 2020",dateEndFifthStepPublish:"April 3rd 2020",remainingDaysToSecondStep:"a year",secondStepPassed:!0,currentStepOfPublishingProcess:5,editedByType:null,kuFlag:!1,biosketch:null,coeditorOneBiosketch:null,coeditorTwoBiosketch:null,coeditorThreeBiosketch:null,coeditorFourBiosketch:null,coeditorFiveBiosketch:null,editors:[{id:"272992",title:"Dr.",name:"Muhammad",middleName:null,surname:"Sarwar",slug:"muhammad-sarwar",fullName:"Muhammad Sarwar",profilePictureURL:"https://mts.intechopen.com/storage/users/272992/images/system/272992.jpeg",biography:"Dr. Muhammad Sarwar, Principal Scientist, is in his thirtieth year of service with the Department of Agriculture, Government of Punjab. He is also currently working for the Pakistan Atomic Energy Commission. He completed his post doctorate in 2008, funded by the Higher Education Commission of Pakistan from the Institute of Plant Protection in the Chinese Academy of Agricultural Sciences, Beijing, China. He has several hundred published papers to his credit and is recipient of the Shield award, letters of appreciation, and certificates of performance from faculty members of the Chinese Academy of Agricultural Sciences, Beijing, China. In 2010, the Zoological Society of Pakistan presented him with the Prof. Dr. Mirza Azhar Beg Gold Medal. In 2011, the Pakistan Council for Science and Technology awarded him a Research Productivity Award.\n\nHis research activities focus on integrated pest management for rice, cotton, chickpea, and Brassica crops; predatory mites, ladybird beetles, Chrysoperla, Trichogramma, and parasitoids of fruit flies culturing as bio-control agents; integrated management of fruit flies and mosquitos; and other arthropod pest control methodologies. He has also researched vertebrate pest control, especially controls of rodents in field crops and storage. He was the first to explore thirty-six new species of stored grain mites belonging to eight genera, including Forcellinia, Lackerbaueria, Acotyledon, Caloglyphus, and Troupeauia in the Acaridae family; and Capronomoia, Histiostoma, and Glyphanoetus in the Histiostomatidae family. He also planned and designed research trials on the integrated management of cotton leaf curl virus (CLCV), pest scouting, pest monitoring, and forecasting. 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He completed a course in Basic Management organized by the Pakistan Institute of Engineering and Applied Sciences (PIEAS), Islamabad, in 2011. He has also completed trainings in Beijing, Bangkok, Havana, and Vienna. 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\n
1. Introduction
\n
With the development of technologies such as industrial robots and computer image processing, a series of research and experiments on intelligent picking robots have been carried out in Japan and other related countries, such as tomato, apple, and grape picking robots [1]. Research on picking robots has focused on two parts: the first is a hardware device that can achieve rapid picking, that is, how to design a stable, efficient, and adaptable mechanical and visual sensing system, and the second is to design intelligent software for continuous operations, that is, to accurately identify, distinguish, and locate targets and to solve the problem of task planning and task scheduling during continuous picking operations.
\n
In the research field of picking robots, Kondo et al. [2] designed a tomato picking robot using a 7-degree-of-freedom manipulator. It used fingers and pneumatic nozzles in conjunction with a color camera to complete the picking operation. The experiment achieved a picking success rate of about 70% [3]. Tanigaki et al. [4] developed a cherry picking robot using a four-degree-of-freedom manipulator and a specially designed end effector with suction and shear functions. The visual part uses a light emitter, a photodetector, and a scanning device. The fruit was picked in 14 s, and the success rate was about 84%. The CROPS plan completed in 2014 was jointly completed by many European countries and units and aims to develop a modular picking robot system for different mission scenarios. The greenhouse bell pepper picking robot platform completed in the experiment in the Netherlands [5] used a 9-degree-of-freedom manipulator, two color CCD cameras and a depth-measuring camera, and its end effector was also equipped with a small camera to complete the picking with higher accuracy. Taqi et al. [6] have developed small household cherry tomato picking robots that can achieve very accurate picking tasks in specific environments.
\n
The continuous operation of the picking robot can make intelligent decisions on multi-task under multi-objective scenarios and plan the operation according to the picking needs. The research goal is that the picking robot system can intelligently select and pick fruits that meet the picking conditions, thereby greatly improving the degree of automation of the picking process and improving the quality of the harvested fruits. Because the picking robot is still in the laboratory research stage, the research on continuous operation is also very limited, and it is basically in its infancy. Japan’s Nagata et al. [7] used the shape to judge and classify strawberry quality. The accuracy in the experiment is acceptable, but the speed is much slower than artificial. Zhao et al. [8] investigated the visual recognition of apple maturity, using multi-spectral laser beams to complete fruit identification and positioning and ripeness judgment. Guo [9] and others judged strawberry maturity based on HIS color space algorithm. In the field test, the accuracy of the goal of picking fruits with maturity of 80% or more was more than 90%. Wang [10] and Ling et al. [11] carried out research on selective harvest information acquisition and path planning of tomato picking robots. Multi-sensor information fusion method was used for tomato quality detection and classification and selective picking decision. The appearance maturity of the fruit is detected by the H-means in the computer image, the fruits are classified in real time according to the agricultural industry standards, and the selective harvesting decision is made through the progressive identification of feature information and the fusion decision. At harvest time, path planning is performed on multiple targets through an optimization algorithm and then boxed by level.
\n
This chapter mainly focuses on developing an intelligent software system for the continuous operation of the dual-arm picking robot in a plant factory. Typically, the semi-structure environment of the greenhouse poses challenges for autonomous operations of the robot, and the complex tasks mainly include identification and positioning under variable light conditions, selective picking in multi-cluster growth environment, and complex multi-task programming. For the difficulty of developing the software system, a hierarchical modular software system framework is designed. Moreover, a scheduling method of functional modules is designed based on the idea of finite state machine for the complex multi-task planning problem of tomato continuous picking process. The task scheduling design based on the Finite State Machine (FSM) reduces the difficulty of development work and improves the efficiency of development.
\n
This chapter is organized as follows: Section 2 briefly describes the hardware structure of a dual-arm robot, and Section 3 presents the software framework with the highlights of deploying SMACH- and ViSP-based nodes in a ROS development environment. The experimental results are also included at the end of Section 3.
\n
\n
\n
2. Hardware design of a dual-arm robot
\n
The semi-structured operating environment in the plant factory is relatively complicated, such as the occlusion of fruit branches and leaves, the challenging grasping shape of the fruit, the changing light, and the variety of tasks, which requires to consider the multi-tasking ability of the robot when designing the hardware of the picking robot. At the same time, the complexity of the picking environment requires that the execution of the robot be robust to the environment in which the target is located, only in this way can it pick fruits in different states. Based on the above two design goals, we designed a dual-arm picking robot to simulate human picking operations.
\n
\n
2.1 Design of dual-arm robot body
\n
The mechanical structure of the robot body mimics human arms, and the left and right arms each have three joints: a vertical lift joint, a boom rotation joint, and a forearm rotation joint. The vertical lifting joint is driven by a servo motor to drive the roller screw. The actual effective stroke is about 300 mm. The big and small arm joints are driven by a servo motor connected to a harmonic reducer. There is a waist joint between the body and the base, which can provide 360° rotary motion. The single-arm movement of the robot is similar to that of the SCARA robot. The vertical positioning is achieved by the lifting joint, and the rotation of the large and small arms realizes the positioning in the plane. There are three degrees of freedom in motion. Each of the left and right forearms is designed with a mounting flange surface, and end effectors can be installed as required. The dual-arm robot base is installed on a mobile cart and is transported along the track to different picking points for picking operations.
\n
Due to the limitation of the freedom of the robot body, for complex tomato picking environments, it is not enough to rely only on the freedom of the arms, so we can use the design of the end effector to increase the freedom of our robot and enable the robot to flexibly complete the picking operation. We designed a shearing end effector on the cutting hand of the dual-arm robot and designed a suction-type end sleeve on the auxiliary hand to fix the target tomato and assist the hand in picking (Figure 1).
\n
Figure 1.
The structure of the robot body.
\n
\n
\n
2.2 Dual-arm robot coordinate system
\n
As shown in Figure 2, the world coordinate system \n\n\n\nx\nw\n\n\ny\nw\n\n\nz\nw\n\n\n\n of the dual-arm robot is built on the waist and coincides with the waist joint coordinate system. The left and right arm coordinate systems \n\n\n\nx\nl\n\n\ny\nl\n\n\nz\nl\n\n\n\n and \n\n\n\nx\nr\n\n\ny\nr\n\n\nz\nr\n\n\n\n use the right-hand principle, and the span direction at the zero position of the x axis is different from the x axis of the world coordinate system by +45° and −45°. The z-axis direction is vertically upward and is at the zero position at the lowest point. The x–y plane is parallel to the world coordinate system x–y plane. The binocular camera coordinate system is established at the intersection of the right-eye visual axis and the camera lens. The coordinate system adopted by the bumblebee2 camera is the left-hand principle. In order to be compatible with the entire system, the y-axis direction is reversed.
\n
Figure 2.
Robot coordinate system.
\n
We use the tf function package [12] provided by ROS to maintain the transformation relationship between coordinate systems. After the robot model is built according to urdf, the system will automatically broadcast the transformation relationships between all the coordinate systems. The picking robot coordinate system is shown in Figure 3.
\n
Figure 3.
The picking robot tf coordinate system under Rivz.
\n
Based on the above coordinate system, using the rosrun tf view_frames command, we can view the tf tree of the dual-arm picking robot, as shown in Figure 4.
\n
Figure 4.
The tf tree of robot.
\n
\n
\n
2.3 Communication architecture of the dual-arm picking robot
\n
The communication architecture of the dual-arm picking robot is shown in Figure 5. The motor driver is a Gold series motor driver produced by Elmo and is equipped with the same series of multi-axis controllers. The manufacturer has provided a complete motor driver to multi-axis controller communication protocol and communication protocol implementation and does not require customers to conduct secondary development. The multi-axis controller uses Modbus TCP communication as the communication between the lower computer and the industrial computer. It is connected to it through an Ethernet cable.
\n
Figure 5.
Picking robot communication architecture.
\n
\n
\n
\n
3. Software frame design
\n
In the process of programming, we generally manually divide the tasks of the robot. Once the tasks are effectively divided, we can stack the tasks with the smallest functional components, so the difficulty of task division is how to use human prior knowledge to divide the minimum granularity of robot skills, which is a learning process. At the same time, how to easily and effectively combine the divided components is also an important part of completing the task simulation.
\n
The system architecture describes the functional structure of the subdivision and the topological relationship between them and a series of specifications that need to be set for subsequent development. The basic requirements of software engineering include modularity, code reuse, and function sharing. Using a common framework is helpful for decomposing development tasks and code migration. Robot software also follows the general rules of software engineering. Architecture is how you break up the robot’s functions and organize your code. A clear architecture that matches the project directly determines your development efficiency and even the success or failure of the final function. There are two main approaches to robot system architecture: SPA architecture and behavior-based architecture.
\n
\n
3.1 SPA
\n
The software system architecture is “Sense Plan Act”(SPA), as shown in Figure 6. The robot maps the external environment space through sensors and uses a certain modeling method to structure and model the perception information and then analyzes the model to plan the robot’s actions. Finally, the action instructions are executed in the environment to achieve a complete interactive process.
\n
Figure 6.
SPA work pattern.
\n
The typical software architecture in a SPA robot system is a three-layer architecture: the perception layer, the planning layer, and the motion control layer, as shown in Figure 7. The perception layer receives and processes the sensor data, the planning layer plans the motion trajectory, and the motion control layer ensures the accurate execution of the movement. The SPA robot software system architecture pays more attention to the perception and modeling of the world because this is the basis for the accuracy of subsequent planning and movement.
\n
Figure 7.
SPA layered design.
\n
\n
\n
3.2 Behavior-based architecture
\n
The behavior-based software system architecture is a top-down software design. The small functions of each robot are packaged into individual small modules. All functional modules can be executed in parallel without prioritization. A robot task can be understood as an organic composition of functional modules (Figure 8).
\n
Figure 8.
Action-based software system architecture.
\n
To a certain extent, all robot actions are responses to stimuli (inputs). This stress mode avoids the thinking logic in the SPA architecture and facilitates the rapid action response. In order to achieve the task, we can design a control scheme to change the stress level of the action. Therefore, we need a global controller to coordinate the choice of actions in order to achieve our intended purpose. The behavior-based software design framework has good flexibility, but it increases the difficulty of control. When multiple actions can affect the output, problems are easy to occur.
\n
Therefore, combined with the SPA software architecture and behavior-based software architecture, we design a software framework that combines the advantages of both architectures for continuous operation of a dual-arm picking robot. Its characteristics are as follows:
Hierarchical modular design: The software architecture absorbs the advantages of the SPA architecture and also adopts a hierarchical design. The layered design is mainly logical, which makes it easier for users to understand the working mode of the robot. At the same time, it also absorbs the advantages of behavior-based architecture, that is, functional modularity. Based on the analysis and understanding of the robot’s internal architecture, we divide the functions of the robot into seven modules, each of which is functionally independent of each other. Combining the above two is a hierarchical modular design, which divides the functional modules into a specific layer according to the attributes of the functions, thus strengthening the logic of the system.
Finite state machine control: In order to solve the shortcomings of behavior-based architecture, we have designed a task planning module based on finite state machines, which is used to schedule and control the execution order of each functional module to complete a specific task.
\n\n
\n
\n
3.3 Hierarchical modular design
\n
Layering is an important concept in software design. The division of layers provides a framework for business decomposition and simplifies many thinking processes. Considering the design characteristics of the software system and the functional features of the robot, the entire software architecture can be divided into four layers: presentation layer, application layer, sense layer, and data layer. The hierarchical modular design architecture is shown in Figure 9.
Presentation layer: Presentation layer has more business logic requirements. We designed the presentation layer based on the QT architecture. The entire presentation layer includes several main components as shown in Figure 10: the RVIZ module displays the model of the robot and other visual information; the image module displays the video image information collected by the current robot; the node module monitors all current node information; and the DashBoard module provides users with a function module for manually operating the robot; shell module provides command line functions; console module displays all log information executed by the system; reconfigure module provides users with a convenient tool for changing model parameters; and diagnostic module provides real-time robot monitoring information.
Application layer: Application layer focuses on the task execution of a single robot. It is separated from the implementation of specific functions and uses a combination of function modules to coordinate a task.
Sense layer: Sense layer is responsible for the interaction between the software system and the hardware. There are both a visual module responsible for environmental perception and a motion module responsible for the motion control of the upper and lower computers. Sense layer is a description of the robot’s capabilities.
Data layer: Data layer serves the data generated by the system. Part of the data generated by the system is stored in a local database for real-time decision making of the system. One part is uploaded to the server through the network and is fused with data from other robots and other time dimensions to plan the continuous operation of the robot.
\n\n
Figure 9.
Layered modular architecture design.
\n
Figure 10.
Presentation layer.
\n
The criteria for the division of functional modules are to reduce coupling, relatively independent functions, and high code repeatability. According to the robot’s task module, the software system can be divided into motion (motion_pkg), control (control_pkg), vision (vision_pkg), visualization (visualization_pkg), collaboration (coorperation_pkg), database (database_pkg), and network (network_pkg). Each function module is represented as a function package at the file system layer. There can be multiple nodes in a package, and different nodes can be written in different programming languages.
\n
\n
\n
3.4 Cooperative control of dual-arm picking based on FSM
\n
\n
3.4.1 SMACH
\n
Finite state machine (FSM) is a mathematical model of computational science. The objects it represents can be in a limited number of states at any one time. When an external input occurs, the system responds to the external input, and the FSM can conditionally transition from one state to another. This process is called an action. In computer science, finite state machines are widely used for modeling application behavior, hardware circuit system design, software engineering, compilers, network protocols, and computation and language research. FSM can be defined by the present state, condition, action, and substate. The specific interpretation is as follows:
Present state: The current state.
Condition: The premise of triggering an action can also be considered as an event. When a condition is filled, an action will be triggered.
Action: The operation performed when the conditions are met and can be regarded as a unit of calculation or transaction processing. After the action is completed, it can be transferred to a new state, it can still be in the original state, or it can be terminated.
Substate: The state after the present state transition. When different actions occur and different conditions are generated, a state may transition to a different substate. Once the transition is completed, it becomes the present state.
\n\n
As shown in Figure 11, a task can be represented by a state transition diagram.
\n
Figure 11.
Finite state machine.
\n
SMACH [13, 14, 15], which refers to “State Machine,” is a powerful and scalable Python-based library for hierarchical state machines. The SMACH library does not depend on ROS and can be used in any Python project. The executive_smach stack, however, provides very nice integration with ROS, including smooth actionlib integration and a powerful SMACH viewer to visualize and introspect state machines. The SMACH core library is lightweight and mainly provides two interfaces: State and Container.
\n
State: The state represents the state being executed. Each state has some potential outputs. The State class outputs the result by implementing the blocking function execute().
\n
Container: The container is a collection of one or more states that enforces some strategy. The simplest container is a State machine. A SMACH state machine can be viewed as a state flow graph, where each node is an execution state (the robot is performing a certain action), and the edges connecting the nodes represent transitions between states. The State machine itself can also be regarded as a state and has its own output, so they can be combined in layers to complete a complex task.
SMACH uses action files to define communication protocols between different states. The structure of the action file is simple and clear, as shown in Figure 13. Three data definition areas are separated by three underscores. The first area defines the message format of the request, and the middle area defines the returned result (result message format, the bottom area defines the intermediate information feedback) message format. Each area can contain multiple data type, and the system will automatically compile the action file into three message files during the compilation process, so the message format for communication between states is actually the message format provided by ROS.
\n
Figure 13.
File format of action.
\n
SMACH provides a general state type to support invocation while providing a special state class SimpleActionState as a proxy for actionlib. During the construction of the SimpleActionState object, the corresponding actionlib client is started by default. The user can define a goal in the constructor and create a callback function to process the data returned by the actionlib server.
\n
\n
\n
3.4.2 Hierarchical concurrent state machine design
\n
For the picking robot to perform a continuous picking task, we can use the state transition process to describe it. The detailed description of the state transition is as follows: first enter the startup state, start the picking robot platform, wait for the initialization of each component, and perform a startup self-test. If any component fails to initialize and is in a fault state, the startup fails, and then the system is placed in the error state, stopping working and the task ends.
\n
If the startup is successful, the platform moves into the state, the mobile platform moves to the first picking point, and data collection state and the tomato scanning state are started at the same time. The data collection state collects tomato information in the current status and uploads it to the database of the server; the tomato scan state checks whether there are tomatoes suitable for picking in the viewing area. If not, restart the platform moving state and move the robot to the next picking point; if so, first analyze all the tomato position information and pass the spatial attitude information of the first target tomato to the kinematics solution state according to the predetermined rules, and then program performs kinematics calculation and motion planning. If the tomato is unreachable, the information of the next target tomato is passed to the kinematics solution state, and so on until the last tomato is reached. If it is determined that the tomato is unreachable, the platform is moved to the next picking point. If it is judged that the tomato is reachable, the calculated right arm motion information is transmitted to the robot motion state, and this state sends the trajectory information of the right arm motion to the lower computer and simultaneously detects the joint motion position information during the execution of the lower computer. After the right arm moves to the target position, it enters the suction state. The system starts the suction device to fix the tomatoes and move them to a suitable position, which is convenient for the left arm to cut hands. The kinematics solution state is started again, and the left arm motion information is solved and transmitted to the robot motion state to control the left arm to move near the target. The start of the visual servoing state is close to the target tomato precisely, and the cutting state is started after the arrival, the pneumatic shear transposition of the left arm is started, and the tomato is cut. After completing a tomato pick, pick the next goal planned. Repeat until the last picking point.
\n
According to the task execution process and state transition process described above, the designed state transition diagram is shown in Figure 14.
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Figure 14.
Continuous picking status flow.
\n
In SMACH, we use SimpleActionState to directly simulate the server side of actionlib and define a state machine with 10 states to control the robot to complete a comprehensive picking job.
DO_START: start state.
DO_MOVEBASE: mobile platform mobile status.
DO_TOMATO_SCAN: tomato scanning status.
DO_SPATIAL_TEMPORAL: data collection status.
DO_KINEMATICS: state of kinematics solution.
DO_MOVE_ROBOT: left and right arm movement status.
DO_MOVE_ENDEFFECTOR: end effector status.
DO_ERROR: fault status.
DO_STOP: emergency stop status.
DO_VISUALSERVOING: visual servoing status.
\n\n
\n
\n
\n
3.5 Major software node design
\n
Based on the software framework design and operation requirements of the dual-arm picking robot, based on the functional division of each part, a vision module, an eye-hand coordination module, and a task planning module are mainly designed and installed in the industrial computer. Each module further refines the functions and can be divided into functional nodes. Nodes are the minimum functional modules in ROS, which regard as the ultimate goal of the design.
\n
\n
3.5.1 Vision module node
\n
In the dual-arm acquisition robot eye-hand system, the main component of the “eye” is the camera, including a binocular camera mounted on the robot’s head and a monocular camera mounted on the arm. Based on the ROS framework, we designed three nodes to complete the environment perception function: binocular camera image acquisition node (dual_eye_image_capture), monocular camera image acquisition node (single_eye_image_capture), and image processing node (image_processing). The actual recognition effect is shown in Figure 15. There are three valid tomatoes in the image. The system recognizes all tomatoes and marks the positions of the tomatoes in the picture that need to be picked first according to the rules.
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Figure 15.
Tomato identification interface.
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The binocular camera acquisition node uses the two original images collected by the left and right sensors of the Bumblebee2 camera to finally generate five images: left and right eye corrected color images, left and right eye corrected gray images, and 3D point clouds (Figure 16).
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Figure 16.
Five pictures generated by Bumblebee2 camera. 1. Gray image of left eye after correction. 2. Color image of left eye after correction. 3. Gray image of right eye after correction. 4. Color image of right eye after correction. 5. Point cloud image.
\n
The collection process of the binocular camera is shown in Figure 17. The camera’s original data are read, and the data are packaged into a Bell template image; then, three color information is extracted from the Bell template image and assembled into the original color image. The eye image data are used to obtain corrected left and right eye color images and grayscale images. Next, the left and right eye images are used for stereo matching through the principle of triangulation to generate a 3D point cloud. In the end, all the five images generated were published, and the algorithm used in the image acquisition process was provided by the camera SDK.
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Figure 17.
Binocular image acquisition flow chart.
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Based on the above process, we designed the binocular collection program UML as shown in Figure 18.
\n
Figure 18.
Binocular acquisition node UML design.
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3.5.1.1 Monocular camera image acquisition node
\n
For monocular vision, we use a Daheng Mercury series industrial camera MER-500-7UC, which uses USB2.0 digital interface and provides free SDK and secondary development example source code under windows platform and Linux platform. We use the usb_camera package provided by ROS to collect monocular images, as shown in Figure 19.
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Figure 19.
Image captured by monocular camera.
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\n
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3.5.1.2 Image processing node
\n
The image processing node receives the collected planar image and point cloud image and provides different image processing function interfaces according to different business requirements. In the current task requirements, image processing nodes are required to complete the accurate two-dimensional recognition and accurate three-dimensional positioning of tomatoes. Therefore, the two-dimensional image dataset of the scene and the three-dimensional point cloud data are also required. Next, we introduce us from two directions. Image processing node design: first is the architecture design and functional flow of the image processing node as a functional interface, and the second is the specific implementation of related image processing algorithms.
\n
The entire software system is based on the C/S model architecture, using the actionlib function package provided by ROS, with the task planning node as the server, and requesting computing resources from the client of each functional unit. Image processing nodes are no exception. After receiving the image processing instructions and image data, the instructions are parsed to clarify the functional requirements, and then the required image data are extracted, input into the algorithm function for processing, and the results are finally returned to the server.
\n
The specific processing flow is shown in Figure 20. After initializing the node and actionlib server, start the service, wait for the goal sent by the client, and subscribe to the processing function. After receiving the instruction, analyze the source of the instruction. If the instruction originates from the spatial positioning of tomatoes, the processing steps are: first, use the tomato recognition algorithm based on image feature fusion to identify all tomatoes in the right eye image space of the binocular camera. If there are no tomatoes, return the results; if tomatoes are detected, plan the picking order. The rule is from bottom to top, left to right, and calculate the spatial position of the pick point, and finally return the result to the client. If the object recognition result triggers the harvesting task, the image collected by the monocular camera is used to extract the central image feature of the tomato.
\n
Figure 20.
Image processing node flow chart.
\n
According to the above process, the design program UML is shown in Figure 21.
\n
Figure 21.
Image processing node UML design.
\n
\n
\n
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3.5.2 Eye-hand coordination module node
\n
\n
3.5.2.1 Eye-hand collaboration process design
\n
Our solution uses an eye-in-hand vision servo solution to achieve eye-hand coordination, as shown in Figure 22. The picking robot obtains the image information of the target fruit through a monocular camera installed on the picking hand, extracts the position information of the tomato features in the two-dimensional image, and makes a difference from the expected position information. The difference is used as the input of the visual servo control algorithm and then calculate the control output in real time, that is, the speed vector of the end effector, and then integrate this speed vector with time to calculate the next point that needs to reach the target position. Cycle back and forth to get a trajectory that gradually approaches the target position. The eye-hand correspondence is converted into the amount of motion of the joint, and the end of the robot arm moves accordingly to approach the target. The implementation process is shown in Figure 23.
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Figure 22.
Visual servo program of eye-in-hand.
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Figure 23.
Eye-hand coordination process.
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\n
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3.5.2.2 ViSP
\n
ViSP [17] is an open source visual servo framework developed and maintained by the Lagadic team of the French National Institute of Information and Automation. It has the characteristics of hardware independence, scalability, and portability. In addition, ViSP also provides a complete library of basic functions, which can be combined with a variety of visual feature libraries; it also provides a simulation environment and interfaces with various hardware. Based on ViSP, we can complete functions such as visual tracking, fiducial marking, two-dimensional contour tracking, pose estimation, and so on. The goal of ViSP is to provide developers with a tool for rapid development of visual servo functions. The software framework of ViSP is shown in Figure 24. The entire framework is divided into three modules: one module provides vision models, vision servo control algorithms, and robot controller interfaces; the second module provides image processing algorithms, tracking algorithms and other machine vision algorithms; and the last module is a visualization module that provides a simulation and visual environment. All these features make ViSP very suitable for use as a core part of our module.
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Figure 24.
ViSP software architecture.
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\n
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3.5.2.3 Eye-hand collaboration module node design
\n
The complete flowchart of eye-hand coordination is shown in Figure 25. After the node is initialized, the system initializes and starts the ‘/visual_servo’ actionlib service and subscribes to execute() to wait for the client to be awakened. After receiving the service request, start the visual servo loop. In the loop, program request the feature position of the tomato image from the vision module and make a difference from the expected position. If the difference exceeds the threshold Δs (Δs=2mm), the program will obtain the camera parameters, initialize the control model, and call the ViSP library function vpServo() to calculate the control output speed vector. Then, program integrates the velocity vector with time (t = 1s), motion module controls robot to move to the output position, and requests the tomato image feature position from the vision module again, then makes a difference with the desired position, and loops back and forth until the target image feature. The difference between the position and the desired image feature position is less than the threshold Δs, the visual servo loop is ended, and our execution result is returned.
\n
Figure 25.
Eye-hand collaboration node flow chart.
\n
\nFigure 26 shows the design of the eye-hand coordination node class. There are mainly two classes. The VisualServoCycleNode class is responsible for the loop and interaction with other modules. The VisualServoControlNode module is responsible for controlling the operation of the algorithm.
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Figure 26.
Eye-hand coordination node class design UML diagram.
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\n
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3.5.3 Task planning module node
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The task planning module mainly completes the design and implementation of a layered concurrent state machine for one pick, as shown in Figure 27:
\n
Figure 27.
Task planning node flow chart.
\n
First we initialize the node, state machine, and user intermediate data, and then add the transformation relationship between the states of each state machine according to the state transition of the task design. Use the transition keyword to control the transition from the current state to the secondary state. At the same time, since each state is SimpleActionState, each state implements an actionlib client by default. You need to add an initialization function and a callback function callback() for each state. Start a state machine visualization service IntrospectionServer in the node, so that we can view the state transition diagram in SMACH_viewer and can monitor the state transition in real time. The data details of each state are shown in Figure 28.
\n
Figure 28.
FSM in SMACH_viewer.
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3.5.4 System node diagram
\n
\nFigure 29 shows that the running node diagram after all ROS nodes in the system is turned on. The node diagram is generated using the rqt_graph command. Each rectangular box represents a topic. The oval box represents a node, and the arrowed lines represent the subscription relationship between each other. Visualization of the node diagram makes the system architecture intuitive.
\n
Figure 29.
System function node diagram.
\n
Since most of the eye-hand coordination and motion control are concurrent, the fluency of multitasks is verified under two plant factories and three greenhouses with different fruit status and illumination variations. The experimental results show that if total number of targets within the visual field is not more than three, the average picking time is less than 35 s.
\n
\n
\n
\n
\n
\n
4. Conclusion
\n
The contribution of this research mainly orients around the software engineering for manipulating the complex robot behavior. Although service robot leverages ROS for rapid development, classical tasks such as eye-hand coordination and continuous operation in an open scenario have not been systematically addressed. In this chapter, we advocate that if the complex robot behavior can be structured, then they can be modeled as Finite State Machines (FSM), and a “Sense Plan Act” (SPA) process can be implemented with a formal software architecture. Meanwhile, we demonstrate that ViSP and SMACH in ROS are beneficial frameworks for developing a dual-arm robot for autonomously harvesting the fruits in plant factory, which embodies the complexity of multi-task planning and scheduling in natural scenes. The experimental results show that the software engineering paradigm effectively improves the system reliability and scalability of the dual-arm harvesting robot.
\n
\n
Acknowledgments
\n
This work was supported by the National Natural Science Foundation of China (No. 51775333) and the Scientific Research Program of Shanghai Science and Technology Commission (No. 18391901000).
\n
\n',keywords:"dual-arm robot, complex behavior, continuous operation, robot operating system (ROS), finite state machine",chapterPDFUrl:"https://cdn.intechopen.com/pdfs/72250.pdf",chapterXML:"https://mts.intechopen.com/source/xml/72250.xml",downloadPdfUrl:"/chapter/pdf-download/72250",previewPdfUrl:"/chapter/pdf-preview/72250",totalDownloads:120,totalViews:0,totalCrossrefCites:0,totalDimensionsCites:0,hasAltmetrics:0,dateSubmitted:"December 2nd 2019",dateReviewed:"March 24th 2020",datePrePublished:"May 26th 2020",datePublished:"November 26th 2020",dateFinished:null,readingETA:"0",abstract:"Service robot control faces challenges of dynamic environment and complex behavior, which mainly include eye-hand coordination and continuous operations. However, current programming scheme lacks the ability of managing such tasks. In this chapter, we propose a methodology of software development paradigm for the continuous operation of the dual-arm picking robot. First, a dual-arm robot is built for picking with the purpose of selectively harvesting in plant factory. Second, a hierarchical control software is framed by means of “Sense Plan Act” (SPA) paradigm. Third, based on the previous design, programming concept, and the ROS system, the sub-node programming of visual module, motion module, eye-hand coordination module, and task planning module are implemented with a state machine-based architecture. The experimental results show that if total number of targets within the visual field is not more than three, the average picking time is less than 35 s. The fluency of concurrent task management shows the feasibility of manipulating complex robot behavior for autonomous and continuous operations with the finite state machine model and task level architecture.",reviewType:"peer-reviewed",bibtexUrl:"/chapter/bibtex/72250",risUrl:"/chapter/ris/72250",book:{slug:"service-robotics"},signatures:"Chengliang Liu, Liang Gong and Wei Zhang",authors:[{id:"135507",title:"Prof.",name:"Chengliang",middleName:null,surname:"Liu",fullName:"Chengliang Liu",slug:"chengliang-liu",email:"chlliu@sjtu.edu.cn",position:null,institution:null},{id:"183226",title:"Dr.",name:"Liang",middleName:null,surname:"Gong",fullName:"Liang Gong",slug:"liang-gong",email:"gongliang_mi@sjtu.edu.cn",position:null,institution:{name:"Shanghai Jiao Tong University",institutionURL:null,country:{name:"China"}}},{id:"318241",title:"Dr.",name:"Wei",middleName:null,surname:"Zhang",fullName:"Wei Zhang",slug:"wei-zhang",email:"zhang_wei@sjtu.edu.cn",position:null,institution:{name:"Shanghai Jiao Tong University",institutionURL:null,country:{name:"China"}}}],sections:[{id:"sec_1",title:"1. Introduction",level:"1"},{id:"sec_2",title:"2. Hardware design of a dual-arm robot",level:"1"},{id:"sec_2_2",title:"2.1 Design of dual-arm robot body",level:"2"},{id:"sec_3_2",title:"2.2 Dual-arm robot coordinate system",level:"2"},{id:"sec_4_2",title:"2.3 Communication architecture of the dual-arm picking robot",level:"2"},{id:"sec_6",title:"3. Software frame design",level:"1"},{id:"sec_6_2",title:"3.1 SPA",level:"2"},{id:"sec_7_2",title:"3.2 Behavior-based architecture",level:"2"},{id:"sec_8_2",title:"3.3 Hierarchical modular design",level:"2"},{id:"sec_9_2",title:"3.4 Cooperative control of dual-arm picking based on FSM",level:"2"},{id:"sec_9_3",title:"3.4.1 SMACH",level:"3"},{id:"sec_10_3",title:"3.4.2 Hierarchical concurrent state machine design",level:"3"},{id:"sec_12_2",title:"3.5 Major software node design",level:"2"},{id:"sec_12_3",title:"3.5.1 Vision module node",level:"3"},{id:"sec_12_4",title:"3.5.1.1 Monocular camera image acquisition node",level:"4"},{id:"sec_13_4",title:"3.5.1.2 Image processing node",level:"4"},{id:"sec_15_3",title:"3.5.2 Eye-hand coordination module node",level:"3"},{id:"sec_15_4",title:"3.5.2.1 Eye-hand collaboration process design",level:"4"},{id:"sec_16_4",title:"3.5.2.2 ViSP",level:"4"},{id:"sec_17_4",title:"3.5.2.3 Eye-hand collaboration module node design",level:"4"},{id:"sec_18_4",title:"3.5.3 Task planning module node",level:"4"},{id:"sec_19_4",title:"3.5.4 System node diagram",level:"4"},{id:"sec_23",title:"4. Conclusion",level:"1"},{id:"sec_24",title:"Acknowledgments",level:"1"}],chapterReferences:[{id:"B1",body:'\nSong J, Zhang T, Xu L, et al. Research actuality and prospect of picking robot for fruits and vegetables. Transactions of the Chinese Society for Agricultural Machinery. 2006;37:158-162\n'},{id:"B2",body:'\nKondo N et al. Fruit harvesting robots in Japan. Advances in Space Research. 1996;18:181-184. DOI: 10.1016/0273-1177(95)00806-P\n'},{id:"B3",body:'\nZhao Y, Wu C, Hu X, et al. Research progress and problems of agricultural robot. Transactions of the Chinese Society of Agricultural Engineering. 2003;19:20-24\n'},{id:"B4",body:'\nTanigaki K et al. Cherry-harvesting robot. Computers and Electronics in Agriculture. 2008;63:65-72. DOI: 10.1016/j.compag.2008.01.018\n'},{id:"B5",body:'\nHemming J et al. A robot for harvesting sweet-pepper in greenhouses. In: Proceedings International Conference of Agricultural Engineering. Zurich; 06-10 July 2014\n'},{id:"B6",body:'\nTaqi F et al. A cherry-tomato harvesting robot. In: 18th International Conference on Advanced Robotics (ICAR); 10-12 July 2017. Hong Kong. New York: IEEE; 2017. pp. 463-468\n'},{id:"B7",body:'\nNagata M et al. Studies on automatic sorting system for strawberry (part 3) development of sorting system using image processing. Journal of the Japanese Society of Agricultural Machinery. 1997;59:43-48\n'},{id:"B8",body:'\nZhaoxiang L, GANG L. Apple maturity discrimination and positioning system in an apple harvesting robot. New Zealand Journal of Agricultural Research. 2007;50:1103-1113. DOI: 10.1080/00288230709510392\n'},{id:"B9",body:'\nGuo F et al. Fruit detachment and classification method for strawberry harvesting robot. International Journal of Advanced Robotic Systems. 2008;5(1):41-48. DOI: 10.5772/5662\n'},{id:"B10",body:'\nWang X. Study on information acquisition and path planning of greenhouse tomato harvesting robot for selective harvesting operations [thesis]. Zhenjiang: Jiangsu University; 2012\n'},{id:"B11",body:'\nLing X, Zhao Y, Gong L, Liu C, Wang T. Dual-arm cooperation and implementing for robotic harvesting tomato using binocular vision. Robotics and Autonomous Systems. 2019;114(4):134-143\n'},{id:"B12",body:'\nFoote T. tf: The transform library. In: IEEE Conference on Technologies for Practical Robot Applications (TePRA); 22-23 April 2013. Woburn. New York: IEEE; 2013. pp. 1-6\n'},{id:"B13",body:'\nBohren J, Cousins S. The SMACH high-level executive [ROS news]. IEEE Robotics and Automation Magazine. 2010;17(4):18-20. DOI: 10.1109/MRA.2010.938836\n'},{id:"B14",body:'\nMcgann C et al. Model-Based, Hierarchical Control of a Mobile Manipulation Platform. Thessaloniki, Greece: ICAPS Workshop Planning and Plan Execution for Real-World Systems; 2009\n'},{id:"B15",body:'\nMeeussen W et al. Autonomous door opening and plugging in with a personal robot. In: IEEE International Conference on Robotics and Automation; 3-7 May 2010. Anchorage. New York: IEEE; 2010. pp. 729-736\n'},{id:"B16",body:'\nJoseph H. Getting Started with Smach [Internet]. 2018. Available from: https://wiki.ros.org/smach/Tutorials/Getting%20Started [Accessed: 21 March 2020]\n'},{id:"B17",body:'\nMarchand E et al. ViSP for visual servoing: A generic software platform with a wide class of robot control skills. IEEE Robotics and Automation Magazine. 2005;12(4):40-52. DOI: 10.1109/MRA.2005.1577023\n'}],footnotes:[],contributors:[{corresp:null,contributorFullName:"Chengliang Liu",address:null,affiliation:'
School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China
School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China
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Silva",slug:"ricardo-silva"},{id:"199974",title:"MSc.",name:"Luís",middleName:null,surname:"Matos",fullName:"Luís Matos",slug:"luis-matos"},{id:"205325",title:"MSc.",name:"Daniel",middleName:null,surname:"Campos",fullName:"Daniel Campos",slug:"daniel-campos"},{id:"205326",title:"MSc.",name:"Joana",middleName:null,surname:"Santos",fullName:"Joana Santos",slug:"joana-santos"},{id:"205327",title:"MSc.",name:"João",middleName:null,surname:"Leão",fullName:"João Leão",slug:"joao-leao"},{id:"205328",title:"MSc.",name:"José",middleName:null,surname:"Xavier",fullName:"José Xavier",slug:"jose-xavier"},{id:"205329",title:"MSc.",name:"Manuel",middleName:null,surname:"Camarneiro",fullName:"Manuel Camarneiro",slug:"manuel-camarneiro"},{id:"205330",title:"MSc.",name:"Marcelo",middleName:null,surname:"Penas",fullName:"Marcelo Penas",slug:"marcelo-penas"},{id:"205331",title:"MSc.",name:"Maria",middleName:null,surname:"Miranda",fullName:"Maria 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Bernardon, Luciane Neves Canha, Maicon Jaderson Da\nSilveira Ramos and Daniel Sperb Porto",authors:[{id:"180154",title:"Dr.",name:"Daniel",middleName:"P",surname:"Bernardon",fullName:"Daniel Bernardon",slug:"daniel-bernardon"},{id:"198807",title:"Dr.",name:"Carlos",middleName:null,surname:"Barriquello",fullName:"Carlos Barriquello",slug:"carlos-barriquello"},{id:"198808",title:"Dr.",name:"Luciane",middleName:null,surname:"Canha",fullName:"Luciane Canha",slug:"luciane-canha"},{id:"198809",title:"BSc.",name:"Flavio",middleName:null,surname:"Silva",fullName:"Flavio Silva",slug:"flavio-silva"},{id:"198810",title:"MSc.",name:"Maicon",middleName:null,surname:"Ramos",fullName:"Maicon Ramos",slug:"maicon-ramos"},{id:"198811",title:"MSc.",name:"Daniel",middleName:null,surname:"Porto",fullName:"Daniel Porto",slug:"daniel-porto"}]},{id:"56598",title:"Implications of the Google’s US 8,996,429 B1 Patent in Cloud Robotics-Based Therapeutic 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1. Introduction
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Sport for Development and Peace (SDP) is an international movement that began in the 2000s to meet the Millennium Development Goals (2000–2015). Several local, regional, national and international organizations are currently continuing to implement sports projects in an international development context to reach the United Nations’ sustainable development goals (2015–2030).
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This chapter aims to present the various origins and objectives that are being used around the SDP. It then focuses on current research on SDP, providing illustrations of research projects conducted in the field. Finally, this chapter offers perspectives for future research in this domain.
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1.1 Origins and history of the SDP movement
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Sport for Development and Peace (SDP) is not a new phenomenon contrary to what one might think. In 1894, Pierre de Coubertin had already considered the reconstruction of the modern Olympic Games to bring nations closer together around sports disciplines. He said “I remained convinced that sport is one of the most forceful elements of peace and I am confident in its future action” [1]. But the use of sport to serve development, peace, or diplomatic interests in the contemporary world is more due to the work of Mandela, who said “Sport has the power to change the world. It has the power to inspire, it has the power to unite people in a way that little else does” [2]. Indeed, the South African leader decided to use the power of sport during the 1995 Rugby World Cup to fight apartheid and unite the South African people. According to him, “Sport can create hope, where once there was only despair. It is more powerful than governments in breaking down racial barriers” [2].
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The United Nations (UN) took a step further toward the recognition of sport and its diplomatic, integrative, educational, or peace-building potential by signing a resolution in favor of the use of sport as a tool for development and peace-building among peoples, which was adopted by the UN General Assembly in 2003. This vote also led to the reaffirmation in 2015 of the 1978 UNESCO International Charter for Physical Education and Sport. The prevalence of SDP projects was so high that the UN has recognized its potential by setting up a specific instance between 2008 and 2017 (United Nations Office for Sport and Development and Peace; UNOSDP) through which it has initiated a large number of projects, particularly in Central America and West Africa [3]. This office had three main roles: to encourage dialogue, to establish SDP collaborations and partnerships, and to support international sports organizations, civil society, private sector, and media.
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1.2 Definition and objectives of the SDP
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SDP projects have been developing in recent years around the world. They have been defined as “the intentional use of sport, physical activity and play to achieve specific development objectives in low- and middle-income countries and disadvantaged communities in high-income areas” [4], which includes “all forms of physical activity that contribute to physical fitness, mental well-being and social interaction, such as play, recreation, organized or competitive sport, indigenous sports and games” [4, 5]. These definitions have since been widely used by many SDP actors and several researchers [5, 6, 7].
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In these initiatives, sport is presented as a lever for integration or social reintegration in developing countries or in conflict-affected areas [7, 8]. For example, soccer matches are used between two enemy sides to help rebuild relationships. In addition to its positive impact on health, sport is now recognized for having a number of other benefits such as the prevention of violence or doping, awareness of diseases such as HIV/AIDS, and also as a medium for instilling respect for opponents and rules, teamwork, sportsmanship, determination, and discipline, in youth [7, 8]. These fundamental principles could also be transferred to the social life of person according to some organizations that value them [9]. The UNOSDP [10] indicates other elements related to the use of sport as a lever for development and peace, among others:
Sport is a powerful tool with unique power to attract, mobilize, and inspire;
Sport embodies issues of participation, inclusion, and citizenship by its very own nature;
It represents human values such as respect for the opponent, acceptance of restrictive rules, teamwork, and equity;
Sport is used in a very wide range of situations to serve development and peace-building as an integrated instrument in short-term emergency humanitarian aid activities or in long-term development cooperation projects [11, 12].
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Finally, sport has benefits such as individual development, health promotion and disease prevention, gender equality, social integration, peace-building or conflict prevention/resolution and post-disaster/trauma assistance [13, 14]. UNESCO published a report in 2016 on the power of the values of sport that reinforces this vision, and then UNOSDP published a document that shows the articulation of using sport to support each of the new Sustainable Development Goals 2015–2030 [10]. From a development perspective, the focus is most of the time on mass sport and not elite sport [15, 16]. In a development context, sport generally includes a wide range of activities adapted to people of all ages and abilities, with an emphasis on the positive values of sport [10]. Sport is used to reach the most needy, including refugees; child soldiers; victims of conflict and natural disasters; poor people; people with disabilities; and victims of racism, stigma, and discrimination [14, 17, 18].
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2. Current researches on SDP
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Beyond descriptions of SDP programs and contributions from international organizations, researchers examined the SDP field and analyze the benefits of these programs on individual development, health promotion and disease prevention, gender equality promotion, social integration, peace-building or conflict prevention and resolution, and assistance after a disaster or trauma, among others [13, 14]. At the moment, four main types of research that have been conducted around SDP can be identified: (1) macrosociological studies on the positive attributes of SDP; (2) exploratory field and case studies; (3) studies on the management and evaluation of SDP programs; and (4) literature reviews on SDP.
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2.1 Macrosociological studies on the SDP
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First, researchers are conducting a large number of macrosociological studies to question the so-called positive attributes of sport by raising its potential abuses [11, 12, 19, 20, 21]. For example, Kidd [14, 22] conducted extensive literature reviews describing the landscape of the SDP movement. According to the author, SDP initiatives were motivated by athlete activism, the reaction to the fall of apartheid and made openings possible by the end of the Cold War, the neoliberal emphasis on entrepreneurship and mass mobilizations for “Make Poverty History,” as part of a major focus of UN political development and the SDP International Working Group [14, 22]. The current results of these global studies show that despite the potential benefits of sport, these positive social impacts do not automatically accumulate. Achieving positive impacts require professional and socially responsible interventions that are adapted to the social and cultural context, prioritize development objectives, and are carefully designed to be inclusive [10, 17, 23]. Nevertheless, some authors note the lack of scientific literature regarding the understanding of the specific mechanisms by which sport can foster development and peace among participants [9, 24, 25].
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2.2 Exploratory field and case studies on the SDP
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Second, some researchers have used several exploratory methodologies to conduct field case studies [26, 27, 28]. For example, Oxford [27] focused on the social inclusion of young Colombian women through football, a traditionally very male sport. The researcher conducted a 6-month ethnographic study in Colombian neighborhoods of the SDP organization to explore the social, cultural, and historical complexities surrounding the safe practice of girls’ sports. Whitley et al. [28] attempted to question key players in SDP about their experiences and expertise in the field. The study provided a better understanding of the limit, the lack of efficiency and equity in practices as well as a concrete impact that they felt was unclear. The study concludes with a list of recommendations to improve SDP field work, research partnerships, and evaluation collaborations in a more rigorous way. Finally, some authors such as Gadais et al. also aim to develop research methods adapted to the SDP field, which is often unstable, complex, or unsafe [26]. The authors intended to implement analyses and methods from a distance and on the field to better understand SDP organizations and their needs in order to better support them in their work.
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2.3 Management and evaluation of SDP programs
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Third, researchers are also interested in questions of program evaluation and management of SDP activities. On the one hand, SDP organizations are frequently approached by the funding agencies to conduct SDP program evaluation studies. This is a classic way of observing the impact of sport on social change [29, 30, 31]. The evaluation studies examined various aspects of the missions and paradigms of SDP projects [30, 32, 33]. A literature review conducted by Levermore [30] revealed three major limitations to SDP evaluation studies: (a) monitoring and evaluation are insufficient; (b) they are conducted with acclaimed programs; and (c) they tend to use a positivist logical framework (Levermore [30]). Levermore concluded his analysis by stressing the need for evaluations that can take into account the diversity of SDP projects, some of which have unclear objectives or missing justifications. Indeed, their objectives and strategies remain unclear and questionable in relation to fully implemented program evaluation protocols [30, 34]. Programs should be evaluated using solid methodological documentation on logical frameworks and critical participatory approaches to try to apply these approaches to specific case studies or to consider their use in the context of a particular sporting event [30]. On the other hand, some researchers aim to strengthen the managerial aspects of SDP projects to improve their functioning, management, or implementation mechanisms [34, 35, 36, 37]. Often, the overall idea is to build connections between the theory generated by macrosociological studies and field case studies. Sport management specialists have begun to critically review and evaluate SDP initiatives, and they are now more strategically planned and pedagogically solid than before. For example, Schulenkorf [37] reviewed the main achievements of sport management research and classifies current research under four headings: (a) SDP programming and design; (b) sustainable management and capacity-building; (c) creation and optimization of impacts and outcomes; and (d) conceptual/theoretical advances. Finally, he suggested that future research could focus on the managerial concepts of leadership, entrepreneurship, and design thinking to maximize the potential of sport (management) to contribute to desired, innovative, and sustainable outcomes for community development.
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2.4 Literature reviews on SDP
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Fourth, three literature reviews have been conducted on SDP. Until 2016, there was little research to synthesize research on SDP. There was no mapping to know what projects existed and to have an overview of the situation at the global level. In 2017, the review conducted by Svensson and Woods [38] addressed this gap by providing a systematic overview of SDP organizations. While the precise locations of action of SDP organizations remain largely unknown, this review has focused these efforts and on the physical and sporting activities used in the programs. It provided an opportunity to review the practice of SDPs in order to provide an overview of the current state of the field: 955 entities involved in SDP practices were identified based on a systematic review of 3138 organizational entries in the SDP databases. The majority of organizations operate programs in Africa, but many are present in Europe, North America, Asia, and Latin America, with more than 80% of them having their headquarters in the same region. Education, livelihoods, and health emerged as the most common themes, while disability and gender were less represented. A total of 32 types of sports have been identified, one-third is only based on football (soccer). In relation to positive youth development (PYD) through sport, Jones et al. [39] conducted an analysis of how sport is a mechanism for achieving various development objectives. The review shows that this link between sport and development is not inherent and depends not only on a variety of programs and activities but also on contextual factors. The positive potential of sport does not develop automatically; it requires a professional and socially responsible intervention, adapted to the social and cultural context [17, 23, 30]. Finally, Schulenkorf et al. [8] conducted an integrated analysis of the literature on sport for development to provide a comprehensive and holistic picture of the sector. Despite the significant increase in published research in the field of sport for development, there has been no attempt to rigorously review and synthesize scientific contributions in this field so far. The paper shows an upward trend in scientific publications since 2000, with an emphasis on social and educational outcomes related to youth sport, with football (soccer) being the most common activity. The vast majority of SDP research has been conducted at the community level, where qualitative approaches dominate (70% of conceptual and qualitative methods). The authors also noted an interesting paradox regarding the geographical contexts of the studies: a majority of the projects are carried out in Africa, Asia, and Latin America, but 74% of the study fields and 90% of the SDP authors are based in North America, Europe, and Australia.
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2.5 SDP research themes
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According to the Journal of Sport for Development, several research themes have been identified in relation to SDP (Table 1).
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Thematics
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Descriptions
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Sport and disability
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Sport and disability focuses on research related to sport as a vehicle for the development, access, inclusion, and human rights of people with disabilities. This section encourages critical thinking and diversity of perspectives, welcoming research at the intersection of theory and practice.
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Sport and education
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Sport and education presents research and case studies related to interventions that use sport to advance education, youth development, and life skills. Rather than focusing on sport education, this section discusses the role of sport in achieving the academic and social outcomes of youth.
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Sport and gender
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The theme on sport and gender presents research and case studies related to interventions using sport to promote gender equality, challenge gender norms, and empower girls and women in disadvantaged environments.
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Sport and health
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Sport and health presents a wide range of outcomes associated with physical, mental, and social well-being. This is the effect of SDP programs on the risk factors for communicable and non-communicable diseases, including the direct effect of sports programs on physical activity. It also examines the role that sport can play in preventive education and health promotion interventions.
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Sport and livelihoods
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The theme on sport and livelihoods presents research and case studies on interventions using sport to improve the livelihoods of disadvantaged people, from programs focusing on vocational skills training to rehabilitation and social enterprise.
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Sport and peace
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Sport and peace focuses on projects that use sport as a vehicle for reconciliation and peace-building. The concept of peace is broadly defined to include connotations of personal, community, and social well-being, as well as the absence of conflict and tension between groups. In particular, this section examines the possibilities of creating peace between individuals and groups in socially, culturally, or ethnically divided societies.
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Sport and social cohesion
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The sport and social cohesion theme includes projects in the areas of community empowerment, social inclusion/integration, and diversity management. It focuses on social impact assessments and capacity-building initiatives that can lead to social cohesion, skills enhancement, and overall community development.
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Table 1.
Research themes related to the SDP field.
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3. Illustrations of SDP research projects
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3.1 Education, social inclusion, and environment: Bel Avenir (Madagascar)
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Bel Avenir (BA) is a Malagasy NGO working in the southern region of Madagascar, through social projects, focusing on “education as a vehicle of development.” BA carries out activities in various fields of education for young disadvantaged populations in Madagascar, particularly in Toliara and Fianarantsoa. The field of education includes: (a) formal education in two schools, (b) non-formal education including a school of sports and a music and arts center, among others, (c) awareness-raising projects, such as international inter-school exchanges, or publications of Malagasy stories. Thus, the organization offers a holistic approach to education for development and the SDP proposed by its school of sports, which is only one of its various services. The country is severely affected by extreme poverty, malnutrition, severe hygiene and health problems, child labor problems (mining or prostitution), corruption in society, and frequent political crises. In this sense, BA works in a complex context, most often difficult, unstable, and sometimes insecure, where reality could be ephemeral. BA is finally a member of the international network Agua de Coco, based in eight countries, and mobilized around children’s rights.
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Two research projects are currently running to support and strengthen BA’s projects. The first study attempts to develop a methodology that uses the Actantial Model [40] and the Snakes and Ladders [7] to analyze and understand the NGO’s situation from a distance [41]. By using the NGO’s annual reports and comparing them to reality, the researchers are developing a methodology to verify whether a research can be successfully conducted in collaboration with the local organization. A second study, focusing on the needs of the NGO, aims to measure the effects of sports (school of sports) and artistic activities (arts and music center) [42] in order to understand their consequences on the psychological and social well-being of disadvantaged youth. This research also aims to strengthen monitoring and evaluation tools for young people and to set up a psychological unit to monitor young people in their development.
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3.2 Training of life and sports coaches—Pour 3 points (Canada)
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The non-profit organization Pour 3 points (P3P), established in Montreal, Canada, since 2013, uses sport as a tool to promote the development of youth in socio-economically disadvantaged neighborhoods. More specifically, P3P offers a 2-year life coaching training program for young Canadians who are interested in coaching and are willing to make a long-term commitment to the program and to disadvantaged communities. Their role is to learn how to support young people in their lives and to help them to avoid dropping out of primary or secondary school, and to support those who experience learning problems or have serious behavioral problems. By being well trained, coaches can help young people develop the skills they need to succeed in school and in their life. After parents, coaches are the most influential adults in the lives of young athletes according to P3P. This influence is felt not only in the teaching of the game but also in the teaching of life.
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Coaches are recruited at the time of enrolment in the training program, based on the skills required to become life coaches while becoming sport coach in one of the organization’s partner schools. Each year, the program recruits approximately 15 coaches who participate in a 4-day training retreat, five peer discussion circles, five formal training sessions, and three personal evaluations each year, all under the supervision of a development consultant.
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Several research projects have been conducted with P3P. A first study conducted on the P3P training program [43], examined coaches’ perceptions based on a humanist coaching workshop they received in their training. The results revealed that coaches perceive positive results in autonomy, communication, skills, motivation, and willingness to help their athletes’ teammates. A second study was conducted to strengthen the organization’s logic model to identify indicators for subsequent program evaluation. The results showed differences in the understanding of the program between key stakeholders. Recommendations from research allowed P3P administrators to reframe their theory of change [44]. This study was designed in collaboration with P3P administrators to help them improve their logic model and prepare their program evaluation. The idea for this research came directly from the P3P administrators and the researchers acted as facilitators.
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\n
\n
\n
4. Axis of tensions between practice and theory of SDP
\n
Several tensions can be noted between the needs of practitioners and their realities on the field with the possibilities of SDP research. The aim is to identify them and then propose a plan for action and research (Table 2).
\n
\n
\n
\n
\n\n
\n
SDP practice
\n
Axis of tensions
\n
SDP theory or research
\n
\n
\n
Practical needs of SDP
\n
Needs for research
\n
\n\n\n
\n
Evaluate effects or impacts of the SDP projects
\n
\nProgram evaluation\n
\n
Need for indicators/criteria to conduct evaluation
\n
\n
\n
Projects are imperfect and need be improve
\n
\nCritic/support\n
\n
Need to critic projects but also support actors and organizations
\n
\n
\n
Reinforce administration team and management work
\n
\nManagement\n
\n
Need to reinforce management elements of projects
\n
\n
\n
What is the finality/use/form of SDP?
\n
\nFinality/use\n
\n
Need to identify the types of SDP and needs about thematics
\n
\n
\n
What is the qualification/training of SDP personal/staff
\n
\nTraining/workshop\n
\n
Need for research on training
\n
\n
\n
Reality field could be unsecure, unstable, complex, dangerous
\n
\nMethod/tools\n
\n
Need to improve quality of research and have adapted tools for investigation
\n
\n\n
Table 2.
Tensions between practice and theory on SDP.
\n
First, we can observe a first axis of tension around program evaluation. On the one hand, SDP organizations are often asked by their donors to conduct program evaluations. This allows them to justify the rationale for their projects and to demonstrate the effectiveness of their actions. However, if these evaluations are not well planned, negative results can be found that compromise projects. SDP organizations often call on researchers to help them conduct their program evaluation because it is a time-consuming process. On the other hand, researchers need precise and specific criteria to conduct a relevant program evaluation. Unfortunately, few projects are able to provide evaluators with these very important indicators to conduct a fair and meaningful evaluation.
\n
Second, SDP projects are rarely perfect in their planning and implementation because they face limited resources and highly changing contexts. As well, it is necessary for administrators to make constant adjustments to improve the implementation and realization of their projects. While SDP projects are criticized by researchers in demonstrating several nonsense between the aims and actions of the project, it remains true that researchers would also benefit from offering a support and collaboration service to try to solve the field difficulties encountered by the actors.
\n
Thirdly, another axis of tension can be detected on the managerial aspects of SDP projects. On the one hand, the administrations of organizations are increasingly developing with their projects. As they do so, they must strengthen their structure and organization, which is often dependent on the financial and human resources at their disposal. On the other hand, researchers have started to conduct several studies to better understand the managerial aspects of SDP organizations, and it would be relevant if these studies could strengthen the organizational aspects of SDP projects which often do not have much support.
\n
Fourthly and for the time being, few differences have been made in SDP projects between those aimed at elite sport, competition, physical education, physical activity for leisure, or another theme such as health education through SDP. In our opinion, there is a very important tension about the purpose, use, and form that the SDP can represent and be truly in field projects. While several texts have been written to attempt to highlight these elements, few studies have attempted to go further in understanding what the SDP really is. This research seems essential to us to make the difference between the various forms of SDP and their multiple uses. This will eventually make it possible to identify new themes to investigate around the SDP.
\n
Fifth, there are currently many questions around who are the people who work with the populations in SDP, what are their training or qualifications? While the research strongly recommends the use of sport supervised by qualified and trained personnel, few studies have focused on the profiles and the training of those people who work in the field every day. On this axis of tension, research must propose areas of response to strengthen field actions. And on this point, it is therefore necessary for researchers to go down to the field to see and understand the reality of the projects.
\n
Finally, SDP fields are often dangerous and unsafe as they are located in humanitarian crisis or international development situations. These situations can change in a few minutes and working in this environment is therefore extremely unstable. They also face very complex realities in which it is necessary to take into account as many elements as possible in order to operate. Faced with the reality of this type of terrain, researchers must adapt their work. In particular, research methods and tools must evolve to adapt to a changing reality and to conditions that are sometimes very inappropriate for conducting a traditional research project. These adaptations are necessary to improve the quality of research in SDP’s fields.
\n
\n
\n
5. Future research perspectives on the SDP
\n
SDP research now offers a better understanding of the movement and allows practitioners to better orient themselves in their use of sport for development. However, the research also raised a set of concrete issues for field projects and some questions remain unanswered at this time. Following the results of the latest studies, six main areas of work should be considered to guide further research on SDP.
Provide a space for reflection (criticize vs. support): current research is often critical of SDP projects and too rarely supports or improves the action of actors in the field. However, it seems important to strengthen the work of the actors while continuing to question their actions and achievements. In this sense, the researcher must offer a space for joint reflection with the actors in the field;
Use a collaborative or partnership approach to conduct research (be a facilitator): one of the roles of research is to help solve practitioners’ problems. Specifically in the domain of SDP, field actors express difficulties and needs that must be listened in order to co-construct research projects. In this sense, the researcher should act as a facilitator to support the projects and the work of the actors while continuing to criticize them in his/her support;
Starting from the concrete angle of the field: to be able to fully understand the nuances of the context and/or the environment of the SDP actors, researchers are invited to be as close as possible to reality, and to step into the field as possible. This element is essential to build a relationship of trust with the actors to help them by understanding their background and endings as much as possible;
Seek interdisciplinary research: SDP themes are complex and often overlap with scientific knowledge from several research fields (e.g., sociology, psychology, and education). Researchers from several scientific disciplines must be open and work together as much as possible, in order to have the most precise and complex understanding of the phenomena that are difficult to capture from a single angle. Research must provide a better understanding of the multiple issues and the complexity of the issues, problems, and realities;
Propose better quality of research: it also seems relevant to us to question how to carry out better quality research on ephemeral or unstable fields, when access is considered complex and dangerous. This requires, among other things, the development of methods able to adapt and respond to the requirements of the domain as well as to the various fields of investigation;
Clarify the uses of SDP: finally, it seems essential to us to question the type of sport for development and peace that is used in the various contexts of SDP. More specifically, is it competitive sport, physical education, physical activity, health education, or any other form? On this subject, Hills et al. [45] had opened up interesting avenues for reflection by mentioning sport + and + sport [46], sport for social inclusion [24], sport as a universal language [1, 24], sport as a diversion [47], as a replacement or alternative [48], as a hook [49, 50] or for life skills [51, 52], among others.
\n\n
\n
\n
6. Conclusion
\n
This chapter aimed to present the field of SDP, its origins, its evolution, the research that has been carried out so far, as well as illustrations to give the reader a better idea of what “Sport for Development and Peace” is. However, answering the question “what is the SDP?” is not easy given that this field is vast, complex, and constantly changing in practice.
\n
In conclusion, three main elements can be remembered: (1) a large number of projects and programs have been developed since the 2000s, mainly in Africa, Latin America, and Asia, with football being the main sport [8, 38]. Other various forms of physical activity and sports (e.g., physical education, competitive sport, and leisure activities) have also been used in order to achieve development or peace and related topics; (2) research on SDP has intensified since 2010 [8]; and it can be grouped into four main categories of studies: macrosociological, exploratory field studies, managerial and program evaluation, and literature reviews; (3) several challenges and tensions remain to be resolved in order to accomplish quality research that will truly help and support actors from the field who use SDP.
\n
We can finally return to the proposals of Baron de Coubertin and Mandela, who were very visionary in using sport as a vehicle for development and as a means of establishing peace. Because today, many organizations such as the United Nations prefers to rely on the universal potential of sport or other non-formal recreation to resolve conflicts and educate future generations, rather than traditional institutions such as schools or governments.
\n
\n
Acknowledgments
\n
The author would like to acknowledge all research collaborators (Arvisais, O., Ayoub, M-B., Bardocz-Bencsik M., Belanger, C., Charland, P., Caicedo, J-C., Dalcourt-Malenfant, S., Decarpentrie, L., Falcão W. Parlavecchio, L., Rouzaut, M., Varela, N., and Webb, A.) and also send a special thanks to all field partners of SDP researches (Bel Avenir, Escuela de communidad—Cuidad Bolivar, P3P, Conseil de Bande des Premieres Nations d’Opitciwan).
\n
Conflict of interest
The author declares no conflict of interest.
\n',keywords:"sport for development, sport for peace, sport for education, sport for health, international",chapterPDFUrl:"https://cdn.intechopen.com/pdfs/69149.pdf",chapterXML:"https://mts.intechopen.com/source/xml/69149.xml",downloadPdfUrl:"/chapter/pdf-download/69149",previewPdfUrl:"/chapter/pdf-preview/69149",totalDownloads:479,totalViews:0,totalCrossrefCites:0,dateSubmitted:"June 11th 2019",dateReviewed:"August 15th 2019",datePrePublished:"November 18th 2019",datePublished:"December 23rd 2020",dateFinished:"September 20th 2019",readingETA:"0",abstract:"Sport for Development and Peace (SDP) is an international movement that began in the 2000s with the Millennium Development Goals (2000–2015) and is currently continuing around the United Nations’ Sustainable Development Goals 2015–2030, driven by international organizations such as UNESCO. Often located in an international development context, organizations and associations use sport as a vehicle to reach several social and humanitarian missions (e.g., education, social cohesion, health, reintegration, diplomacy, and peace). This chapter presents the origins and objectives of the SDP, but it also looks at current research in the field. Since 2010, studies have significantly increased in the field around four main areas (macrosociological, field explorations, program management and evaluation, and literature reviews). This chapter also provides illustrations of SDP research projects, axis of tensions between practice and theory, and perspectives for future research in the field.",reviewType:"peer-reviewed",bibtexUrl:"/chapter/bibtex/69149",risUrl:"/chapter/ris/69149",signatures:"Tegwen Gadais",book:{id:"9158",title:"Sports Science and Human Health",subtitle:"Different Approaches",fullTitle:"Sports Science and Human Health - Different Approaches",slug:"sports-science-and-human-health-different-approaches",publishedDate:"December 23rd 2020",bookSignature:"Daniel Almeida Marinho, Henrique P. Neiva, Christopher P. Johnson and Nawaz Mohamudally",coverURL:"https://cdn.intechopen.com/books/images_new/9158.jpg",licenceType:"CC BY 3.0",editedByType:"Edited by",editors:[{id:"177359",title:"Dr.",name:"Daniel Almeida",middleName:"Almeida",surname:"Marinho",slug:"daniel-almeida-marinho",fullName:"Daniel Almeida Marinho"}],productType:{id:"1",title:"Edited Volume",chapterContentType:"chapter",authoredCaption:"Edited by"}},authors:[{id:"308043",title:"Prof.",name:"Tegwen",middleName:null,surname:"Gadais",fullName:"Tegwen Gadais",slug:"tegwen-gadais",email:"gadais.tegwen@uqam.ca",position:null,institution:null}],sections:[{id:"sec_1",title:"1. Introduction",level:"1"},{id:"sec_1_2",title:"1.1 Origins and history of the SDP movement",level:"2"},{id:"sec_2_2",title:"1.2 Definition and objectives of the SDP",level:"2"},{id:"sec_4",title:"2. Current researches on SDP",level:"1"},{id:"sec_4_2",title:"2.1 Macrosociological studies on the SDP",level:"2"},{id:"sec_5_2",title:"2.2 Exploratory field and case studies on the SDP",level:"2"},{id:"sec_6_2",title:"2.3 Management and evaluation of SDP programs",level:"2"},{id:"sec_7_2",title:"2.4 Literature reviews on SDP",level:"2"},{id:"sec_8_2",title:"2.5 SDP research themes",level:"2"},{id:"sec_10",title:"3. Illustrations of SDP research projects",level:"1"},{id:"sec_10_2",title:"3.1 Education, social inclusion, and environment: Bel Avenir (Madagascar)",level:"2"},{id:"sec_11_2",title:"3.2 Training of life and sports coaches—Pour 3 points (Canada)",level:"2"},{id:"sec_13",title:"4. Axis of tensions between practice and theory of SDP",level:"1"},{id:"sec_14",title:"5. Future research perspectives on the SDP",level:"1"},{id:"sec_15",title:"6. Conclusion",level:"1"},{id:"sec_16",title:"Acknowledgments",level:"1"},{id:"sec_19",title:"Conflict of interest",level:"1"}],chapterReferences:[{id:"B1",body:'\nde Coubertin P. Le rétablissement des Jeux olympiques. Revue de Paris; 1894. p. 15\n'},{id:"B2",body:'\nMandela N. Speech by Nelson Mandela at the Inaugural Laureus Lifetime Achievement Award. Monaco, Monte Carlo: Inaugural Laureus Lifetime Achievement Award; 2000\n'},{id:"B3",body:'\nUNESCO. Sport for development and peace. 2016. Available from: http://www.unesco.org/new/en/social-and-human-sciences/themes/physical-education-and-sport/sport-forpeace-and-development/ [Accessed June 2019]\n'},{id:"B4",body:'\nUN Inter-Agency Task Force on Sport for Development and Peace. Sport as a Tool for Development and Peace - the United Nations; 2003\n'},{id:"B5",body:'\nRichards J, Kaufman Z, Schulenkorf N, Wolff E, Gannett K, Siefken K, et al. Advancing the evidence base of sport for development: A new open-access, peer-reviewed journal. 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Evaluation and Program Planning. 2018;66:156-164\n'},{id:"B33",body:'\nSimard S. Le développement positif des jeunes en contexte sportif parascolaire: évaluation du programme d’intervention psychosociale Bien dans mes Baskets. Montreal: Universite de Montréal; 2013\n'},{id:"B34",body:'\nCoalter F. Sport-in-Development: A Monitoring and Evaluation Manual. The International Platform on Sport & Development. London: UK Sport; 2008. Available from: http://www.sportni.net/sportni/wp-content/uploads/2013/03/Sport_in_Development_A_monitoring_and_Evaluation_Manual.pdf [Accessed June 2019]\n'},{id:"B35",body:'\nLyras A, Welty-Peachey J. Integrating sport-for-development theory and praxis. Sport Management Review. 2011;14(4):311-326\n'},{id:"B36",body:'\nPeachey JW, Borland J, Lobpries J, Cohen A. Managing impact: Leveraging sacred spaces and community celebration to maximize social capital at a sport-for-development event. Sport Management Review. 2015;18(1):86-98\n'},{id:"B37",body:'\nSchulenkorf N. Managing sport-for-development: Reflections and outlook. Sport Management Review. 2017;20(3):243-251\n'},{id:"B38",body:'\nSvensson P, Woods H. A systematic overview of sport for development and peace organisations. Journal of Sport for Development. 2017;5(9):36-48\n'},{id:"B39",body:'\nJones GJ, Edwards MB, Bocarro JN, Bunds KS, Smith JW. An integrative review of sport-based youth development literature. Sport in Society. 2017;20(1):161-179\n'},{id:"B40",body:'\nGreimas AJ. Du sens II. Paris: Seuil; 1983. p. 245\n'},{id:"B41",body:'\nGadais T, Décarpentrie L, Ayoub M-B, Bardocz-Bencsik M, Rouzaut M, Dalcourt-Malenfant S, editors. Understanding Sport for Development and Peace Organisation and their Context from a Distance by Using Actantial Model: The Case of Bel Avenir (Madagascar). AIESEP. NY, USA: Adelphi University; 2019\n'},{id:"B42",body:'\nDécarpentrie L. Les effets de la participation à des activités extrascolaires en contexte extrême de développement: le cas de jeunes à Madagascar. Montréal: Université du Québec à Montréal; 2019. p. 79\n'},{id:"B43",body:'\nFalcão WR, Bloom GA, Bennie A. Coaches’ experiences learning and applying the content of a humanistic coaching workshop in youth sport settings. International Sport Coaching Journal. 2017;4:279-290\n'},{id:"B44",body:'\nGadais T, Bardocz-Bencsik M, Falcão WR. Analyzing a SDP program’s logical model with key actors’ perceptions: The case of Pour 3 Points organization in Montreal. in press\n'},{id:"B45",body:'\nHills S, Velásquez AG, Walker M. Sport as an analogy to teach life skills and redefine moral values: A case study of the ‘seedbeds of peace’ sport-for-development programme in Medellin, Colombia. Journal of Sport for Development. 2018;6(11):19-31\n'},{id:"B46",body:'\nCoalter F. Sport-in-Development: Accountability or Development?. Sport and International Development. UK: Palgrave Macmillan; 2009. pp. 55-75\n'},{id:"B47",body:'\nArnaud L. Sport as a cultural system: Sports policies and (new) ethnicities in Lyon and Birmingham. International Journal of Urban and Regional Research. 2002;26(3):571-587\n'},{id:"B48",body:'\nBergsgard NA, Houlihan B, Mangset P, Nødland SI, Rommetvedt H. Sport Policy: A Comparative Analysis of Stability and Change. Oxford: Elsevier; 2009\n'},{id:"B49",body:'\nWalker M, Hills S, Heere B. Evaluating a socially responsible employment program: Beneficiary impacts and stakeholder perceptions. Journal of Business Ethics. 2015;143(1):53-70\n'},{id:"B50",body:'\nWalker Research Group. The role of boxing in development. 2017. Available from: http://www.abae.co.uk/aba/index. cfm/news/new-research-in-hackneyand-liverpool-details-how-and-whyboxing-combats-anti-social-behaviourin-deprived-communities/ [Accessed June 2019]\n'},{id:"B51",body:'\nDanish SJ, Nellen VC. New roles for sport psychologists: Teaching life skills through sport to at-risk youth. Quest. 1997;49(1):100-113\n'},{id:"B52",body:'\nHeere B, James JD. Sports teams and their communities: Examining the influence of external group identities on team identity. Journal of Sport Management. 2007;21(3):319-337\n'}],footnotes:[],contributors:[{corresp:"yes",contributorFullName:"Tegwen Gadais",address:"gadais.tegwen@uqam.ca",affiliation:'
Université du Québec à Montréal (UQAM), Montréal, Canada
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Asbestos exposure may lead to the development of benign pleural diseases, such as pleural plaques, diffuse pleural thickening, and pleural effusion, as well as to the development of malignant mesothelioma, a highly aggressive tumour of the pleura. Asbestos exposure related to pleural diseases may be occupational or environmental. Although the causal relationship between asbestos-related pleural diseases and asbestos exposure has been well confirmed, the role of genetic factors in the development of these diseases needs to be further investigated and elucidated. The results of the studies performed so far indicate that in addition to asbestos exposure, genetic factors as well as the interactions between genetic factors and asbestos exposure may have an important impact on the risk of asbestos-related pleural diseases, especially malignant mesothelioma. This chapter aims to present how the risk of developing asbestos-related pleural diseases may be influenced by asbestos exposure, genetic factors, interactions between different genetic factors, as well as interactions between different genetic factors and asbestos exposure.",signatures:"Vita Dolzan and Alenka Franko",authors:[{id:"60449",title:"Prof.",name:"Vita",surname:"Dolžan",fullName:"Vita Dolžan",slug:"vita-dolzan",email:"vita.dolzan@mf.uni-lj.si"},{id:"195632",title:"Prof.",name:"Alenka",surname:"Franko",fullName:"Alenka Franko",slug:"alenka-franko",email:"alenka.franko@siol.net"}],book:{title:"Diseases of Pleura",slug:"diseases-of-pleura",productType:{id:"1",title:"Edited Volume"}}},{title:"Asbestos-Related Diseases and Blood Biomarkers",slug:"asbestos-related-diseases-and-blood-biomarkers",abstract:"Asbestos-related diseases, including asbestosis, benign pleural diseases, lung cancer, other types of cancer, and especially malignant mesothelioma (MM), still represent an enormous problem all over the world and are among the most investigated occupational diseases. Considering that MM is a highly aggressive and severe malignant cancer of pleura, peritoneum and other serosal surfaces, new blood biomarkers for earlier diagnosis, following response to treatment and disease progression, have been intensively investigated. Several studies suggested that soluble mesothelin-related peptides, fibulin-3, survivin, osteopontin, vimentin, calretinin, and many others could be helpful in diagnosis, detecting the progression of MM and evaluating tumour response to treatment; however, these biomarkers have not been validated in clinical practice. Therefore, search for novel better stand-alone or composite biomarkers is under way. The aim of this chapter is to present the importance of blood biomarkers in evaluating the risk of developing asbestos-related diseases, early diagnosis, following the response to treatment and progression of these diseases, with special emphasis on MM.",signatures:"Alenka Franko, Vita Dolzan, Katja Goricar and Metoda Dodic Fikfak",authors:[{id:"60449",title:"Prof.",name:"Vita",surname:"Dolžan",fullName:"Vita Dolžan",slug:"vita-dolzan",email:"vita.dolzan@mf.uni-lj.si"},{id:"195632",title:"Prof.",name:"Alenka",surname:"Franko",fullName:"Alenka Franko",slug:"alenka-franko",email:"alenka.franko@siol.net"},{id:"172777",title:"Dr.",name:"Katja",surname:"Goričar",fullName:"Katja Goričar",slug:"katja-goricar",email:"katja.goricar@mf.uni-lj.si"},{id:"309329",title:"Prof.",name:"Metoda",surname:"Dodic Fikfak",fullName:"Metoda Dodic Fikfak",slug:"metoda-dodic-fikfak",email:"metoda.dodicfikfak@kclj.si"}],book:{title:"Asbestos-related Diseases",slug:"asbestos-related-diseases",productType:{id:"1",title:"Edited Volume"}}}],collaborators:[{id:"60449",title:"Prof.",name:"Vita",surname:"Dolžan",slug:"vita-dolzan",fullName:"Vita Dolžan",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/no_image.jpg",biography:null,institutionString:null,institution:{name:"University of Ljubljana",institutionURL:null,country:{name:"Slovenia"}}},{id:"79219",title:"Prof.",name:"Ana Cláudia",surname:"Coelho",slug:"ana-claudia-coelho",fullName:"Ana Cláudia Coelho",position:null,profilePictureURL:"//cdnintech.com/web/frontend/www/assets/author.svg",biography:null,institutionString:null,institution:{name:"University of Trás-os-Montes and Alto Douro",institutionURL:null,country:{name:"Portugal"}}},{id:"104865",title:"Prof.",name:"Mohamed",surname:"Mokdad",slug:"mohamed-mokdad",fullName:"Mohamed Mokdad",position:null,profilePictureURL:"//cdnintech.com/web/frontend/www/assets/author.svg",biography:null,institutionString:null,institution:{name:"University of Bahrain",institutionURL:null,country:{name:"Bahrain"}}},{id:"175795",title:"Associate Prof.",name:"Radostina",surname:"Angelova",slug:"radostina-angelova",fullName:"Radostina Angelova",position:null,profilePictureURL:"//cdnintech.com/web/frontend/www/assets/author.svg",biography:null,institutionString:null,institution:null},{id:"191905",title:"Dr.",name:"Marina",surname:"Otelea",slug:"marina-otelea",fullName:"Marina Otelea",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/191905/images/6140_n.png",biography:"Dr. Marina Otelea is a medical doctor, specializing in occupational medicine. She graduated from a nutrition master program and participated in several international training programs covering the nutrition field. She is currently a member of the Physiopathology staff of the University of Medicine and Pharmacy “Carol Davila,” Bucharest. Dr. Otelea\\'s current research involves the health-related consequences of over- and undernutrition and her main expertise and focus are on the interreaction of nutrition intake and biological effects. She was involved in several projects related to the nutrition field, published 1 book on the pathophysiology of carbohydrates at a national publishing house and 1 chapter on insulin resistance with InTechOpen publishing house. She has co-authored more than 20 articles in national and international journals.",institutionString:null,institution:{name:"University of Bucharest",institutionURL:null,country:{name:"Romania"}}},{id:"192730",title:"Associate Prof.",name:"Simona",surname:"Šarotar Žižek",slug:"simona-sarotar-zizek",fullName:"Simona Šarotar Žižek",position:null,profilePictureURL:"//cdnintech.com/web/frontend/www/assets/author.svg",biography:null,institutionString:null,institution:{name:"University of Maribor",institutionURL:null,country:{name:"Slovenia"}}},{id:"193453",title:"Ph.D.",name:"Azra",surname:"Huršidić Radulović",slug:"azra-hursidic-radulovic",fullName:"Azra Huršidić Radulović",position:null,profilePictureURL:"//cdnintech.com/web/frontend/www/assets/author.svg",biography:null,institutionString:null,institution:null},{id:"195633",title:"Prof.",name:"Metoda",surname:"Dodic-Fikfak",slug:"metoda-dodic-fikfak",fullName:"Metoda Dodic-Fikfak",position:null,profilePictureURL:"//cdnintech.com/web/frontend/www/assets/author.svg",biography:null,institutionString:null,institution:null},{id:"197229",title:"Dr.",name:"Mary F",surname:"Barbe",slug:"mary-f-barbe",fullName:"Mary F Barbe",position:null,profilePictureURL:"//cdnintech.com/web/frontend/www/assets/author.svg",biography:null,institutionString:null,institution:{name:"Temple University",institutionURL:null,country:{name:"United States of America"}}},{id:"197459",title:"Dr.",name:"Ann",surname:"Barr-Gillespie",slug:"ann-barr-gillespie",fullName:"Ann Barr-Gillespie",position:null,profilePictureURL:"//cdnintech.com/web/frontend/www/assets/author.svg",biography:null,institutionString:null,institution:{name:"Pacific University",institutionURL:null,country:{name:"United States of America"}}}]},generic:{page:{slug:"partnerships",title:"Partnerships",intro:"
IntechOpen has always supported new and evolving ideas in scholarly publishing. We understand the community we serve, but to provide an even better service for our IntechOpen Authors and Academic Editors, we have partnered with leading companies and associations in the scientific field and beyond.
",metaTitle:"Partnerships",metaDescription:"IntechOpen was built by scientists, for scientists. We understand the community we serve, but to bring an even better service to the table for IntechOpen Authors and Academic Editors, we partnered with the leading companies and associations in the industry and beyond.",metaKeywords:null,canonicalURL:"/page/partnerships",contentRaw:'[{"type":"htmlEditorComponent","content":"
ALPSP
\\n\\n
\\n\\t
The Association of Learned and Professional Society Publishers (ALPSP) is the largest association of scholarly and professional publishers in the world. Its mission is to connect, inform, develop and represent the international scholarly and professional publishing community. IntechOpen has been a member of ALPSP since 2016 and has consequently stayed informed about industry trends through connecting with peers and developing jointly.
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\\n\\n
OASPA
\\n\\n
\\n\\t
The Open Access Scholarly Publishers Association (OASPA) was established in 2008 to represent the interests of Open Access (OA) publishers globally in all scientific, technical and scholarly disciplines. Its mission is carried out through exchange of information, the setting of standards, advancing models, advocacy, education, and the promotion of innovation.
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\\n\\n
STM
\\n\\n
\\n\\t
The International Association of Scientific, Technical and Medical Publishers (STM) is the leading global trade association for academic and professional publishers. As a member, IntechOpen has not only made a commitment to STM's Ethical Principles.
\\n
\\n\\n
COPE
\\n\\n
\\n\\t
The Committee on Publication Ethics (COPE) provides advice to editors and publishers on all aspects of publication ethics and, in particular, how to handle cases of misconduct in research and publication. IntechOpen has been a member of COPE since 2013 and adheres to the COPE Code of Conduct and Best Practice Guidelines, ensuring that we maintain the highest ethical standards.
\\n
\\n\\n
Creative Commons
\\n\\n
\\n\\t
Creative Commons (CC) is a nonprofit organization that enables the sharing and use of creativity and knowledge through free legal tools. IntechOpen uses the CC BY 3.0 license for chapters, meaning Authors retain copyright and their work can be reused and adapted as long as the source is properly cited and Authors are acknowledged.
\\n
\\n\\n
Crossref
\\n\\n
\\n\\t
Crossref is the official Digital Object Identifier (DOI) Registration Agency for scholarly and professional publications with a goal of making scholarly communications more effective. IntechOpen deposits metadata and registers DOIs for all content using the Crossref System. IntechOpen also deposits its references and uses the Crossref Cited-by service that enables researchers to track citation statistics.
\\n
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Altmetric and Dimensions from Digital Science
\\n\\n
\\n\\t
Digital Science is a technology company serving the needs of scientific and research communities at key points along the full cycle of research. They support innovative businesses and technologies that make all parts of the research process more open, efficient and effective. IntechOpen integrates tools such as Altmetric to enable our researchers to track and measure the activity around their academic research and Dimensions, to ease access to the most relevant information and better understand and analyze the global research landscape.
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\\n\\n
CLOCKSS
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\\n\\t
CLOCKSS preserves scholarly publications in original formats, ensuring that they always remain available and openly accessible to everyone.
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Counter
\\n\\n
\\n\\t
COUNTER provides the Code of Practice that enables publishers and vendors to report usage of their electronic resources in a consistent way. This enables libraries to compare data received from different publishers and vendors.
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\\n\\n
DORA
\\n\\n
\\n\\t
DORA is a worldwide initiative covering all scholarly disciplines which recognizes the need to improve the ways in which the outputs of scholarly research are evaluated and seeks to develop and promote best practice. To date it has been signed by over 1500 organizations and around 14,700 individuals.
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iThenticate
\\n\\n
\\n\\t
iThenticate is the leading provider of professional plagiarism detection and prevention technology and is used worldwide by scholarly publishers and research institutions to ensure the originality of written work before publication. IntechOpen uses the iThenticate plagiarism software to ensure content originality and the research integrity of our published work.
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\\n\\n
Enago
\\n\\n
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IntechOpen collaborates with Enago, through its sister brand, Ulatus, one of the world’s leading providers of book translation services. Their services are designed to convey the essence of your work to readers from across the globe in the language they understand.
\\n\\t
IntechOpen Authors that wish to use this service will receive a 20% discount on all translation services. To find out more information or obtain a quote, please visit https://www.enago.com/intech
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SPi Global
\\n\\n
\\n\\t
SPi Global is the market leader in technology-driven solutions for the extraction, enrichment and transformation of content assets. IntechOpen publishing services are designed to meet the unique needs of Authors. As part of our commitment to that objective, we have an ongoing partnership agreement for production solutions.
\\n
\\n\\n
Amazon
\\n\\n
\\n\\t
Amazon is the world’s largest online retailer and cloud services provider. IntechOpen books have been available on Amazon since 2017, guaranteeing more visibility for our Authors and Academic Editors.
\\n
\\n\\n
DHL
\\n\\n
\\n\\t
IntechOpen has partnered with DHL since 2011 to ensure the fastest delivery of Print on Demand books.
The Association of Learned and Professional Society Publishers (ALPSP) is the largest association of scholarly and professional publishers in the world. Its mission is to connect, inform, develop and represent the international scholarly and professional publishing community. IntechOpen has been a member of ALPSP since 2016 and has consequently stayed informed about industry trends through connecting with peers and developing jointly.
\n
\n\n
OASPA
\n\n
\n\t
The Open Access Scholarly Publishers Association (OASPA) was established in 2008 to represent the interests of Open Access (OA) publishers globally in all scientific, technical and scholarly disciplines. Its mission is carried out through exchange of information, the setting of standards, advancing models, advocacy, education, and the promotion of innovation.
\n
\n\n
STM
\n\n
\n\t
The International Association of Scientific, Technical and Medical Publishers (STM) is the leading global trade association for academic and professional publishers. As a member, IntechOpen has not only made a commitment to STM's Ethical Principles.
\n
\n\n
COPE
\n\n
\n\t
The Committee on Publication Ethics (COPE) provides advice to editors and publishers on all aspects of publication ethics and, in particular, how to handle cases of misconduct in research and publication. IntechOpen has been a member of COPE since 2013 and adheres to the COPE Code of Conduct and Best Practice Guidelines, ensuring that we maintain the highest ethical standards.
\n
\n\n
Creative Commons
\n\n
\n\t
Creative Commons (CC) is a nonprofit organization that enables the sharing and use of creativity and knowledge through free legal tools. IntechOpen uses the CC BY 3.0 license for chapters, meaning Authors retain copyright and their work can be reused and adapted as long as the source is properly cited and Authors are acknowledged.
\n
\n\n
Crossref
\n\n
\n\t
Crossref is the official Digital Object Identifier (DOI) Registration Agency for scholarly and professional publications with a goal of making scholarly communications more effective. IntechOpen deposits metadata and registers DOIs for all content using the Crossref System. IntechOpen also deposits its references and uses the Crossref Cited-by service that enables researchers to track citation statistics.
\n
\n\n
Altmetric and Dimensions from Digital Science
\n\n
\n\t
Digital Science is a technology company serving the needs of scientific and research communities at key points along the full cycle of research. They support innovative businesses and technologies that make all parts of the research process more open, efficient and effective. IntechOpen integrates tools such as Altmetric to enable our researchers to track and measure the activity around their academic research and Dimensions, to ease access to the most relevant information and better understand and analyze the global research landscape.
\n
\n\n
CLOCKSS
\n\n
\n\t
CLOCKSS preserves scholarly publications in original formats, ensuring that they always remain available and openly accessible to everyone.
\n
\n\n
Counter
\n\n
\n\t
COUNTER provides the Code of Practice that enables publishers and vendors to report usage of their electronic resources in a consistent way. This enables libraries to compare data received from different publishers and vendors.
\n
\n\n
DORA
\n\n
\n\t
DORA is a worldwide initiative covering all scholarly disciplines which recognizes the need to improve the ways in which the outputs of scholarly research are evaluated and seeks to develop and promote best practice. To date it has been signed by over 1500 organizations and around 14,700 individuals.
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iThenticate
\n\n
\n\t
iThenticate is the leading provider of professional plagiarism detection and prevention technology and is used worldwide by scholarly publishers and research institutions to ensure the originality of written work before publication. IntechOpen uses the iThenticate plagiarism software to ensure content originality and the research integrity of our published work.
\n
\n\n
Enago
\n\n
\n\t
IntechOpen collaborates with Enago, through its sister brand, Ulatus, one of the world’s leading providers of book translation services. Their services are designed to convey the essence of your work to readers from across the globe in the language they understand.
\n\t
IntechOpen Authors that wish to use this service will receive a 20% discount on all translation services. To find out more information or obtain a quote, please visit https://www.enago.com/intech
\n
\n\n
SPi Global
\n\n
\n\t
SPi Global is the market leader in technology-driven solutions for the extraction, enrichment and transformation of content assets. IntechOpen publishing services are designed to meet the unique needs of Authors. As part of our commitment to that objective, we have an ongoing partnership agreement for production solutions.
\n
\n\n
Amazon
\n\n
\n\t
Amazon is the world’s largest online retailer and cloud services provider. IntechOpen books have been available on Amazon since 2017, guaranteeing more visibility for our Authors and Academic Editors.
\n
\n\n
DHL
\n\n
\n\t
IntechOpen has partnered with DHL since 2011 to ensure the fastest delivery of Print on Demand books.
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I am also a member of the team in charge for the supervision of Ph.D. students in the fields of development of silicon based planar waveguide sensor devices, study of inelastic electron tunnelling in planar tunnelling nanostructures for sensing applications and development of organotellurium(IV) compounds for semiconductor applications. I am a specialist in data analysis techniques and nanosurface structure. I have served as the editor for many books, been a member of the editorial board in science journals, have published many papers and hold many patents.",institutionString:null,institution:{name:"Sheffield Hallam University",country:{name:"United Kingdom"}}},{id:"54525",title:"Prof.",name:"Abdul Latif",middleName:null,surname:"Ahmad",slug:"abdul-latif-ahmad",fullName:"Abdul Latif Ahmad",position:null,profilePictureURL:"//cdnintech.com/web/frontend/www/assets/author.svg",biography:null,institutionString:null,institution:null},{id:"20567",title:"Prof.",name:"Ado",middleName:null,surname:"Jorio",slug:"ado-jorio",fullName:"Ado Jorio",position:null,profilePictureURL:"//cdnintech.com/web/frontend/www/assets/author.svg",biography:null,institutionString:null,institution:{name:"Universidade Federal de Minas Gerais",country:{name:"Brazil"}}},{id:"47940",title:"Dr.",name:"Alberto",middleName:null,surname:"Mantovani",slug:"alberto-mantovani",fullName:"Alberto Mantovani",position:null,profilePictureURL:"//cdnintech.com/web/frontend/www/assets/author.svg",biography:null,institutionString:null,institution:null},{id:"12392",title:"Mr.",name:"Alex",middleName:null,surname:"Lazinica",slug:"alex-lazinica",fullName:"Alex Lazinica",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/12392/images/7282_n.png",biography:"Alex Lazinica is the founder and CEO of IntechOpen. After obtaining a Master's degree in Mechanical Engineering, he continued his PhD studies in Robotics at the Vienna University of Technology. Here he worked as a robotic researcher with the university's Intelligent Manufacturing Systems Group as well as a guest researcher at various European universities, including the Swiss Federal Institute of Technology Lausanne (EPFL). During this time he published more than 20 scientific papers, gave presentations, served as a reviewer for major robotic journals and conferences and most importantly he co-founded and built the International Journal of Advanced Robotic Systems- world's first Open Access journal in the field of robotics. Starting this journal was a pivotal point in his career, since it was a pathway to founding IntechOpen - Open Access publisher focused on addressing academic researchers needs. Alex is a personification of IntechOpen key values being trusted, open and entrepreneurial. Today his focus is on defining the growth and development strategy for the company.",institutionString:null,institution:{name:"TU Wien",country:{name:"Austria"}}},{id:"19816",title:"Prof.",name:"Alexander",middleName:null,surname:"Kokorin",slug:"alexander-kokorin",fullName:"Alexander Kokorin",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/19816/images/1607_n.jpg",biography:"Alexander I. Kokorin: born: 1947, Moscow; DSc., PhD; Principal Research Fellow (Research Professor) of Department of Kinetics and Catalysis, N. Semenov Institute of Chemical Physics, Russian Academy of Sciences, Moscow.\r\nArea of research interests: physical chemistry of complex-organized molecular and nanosized systems, including polymer-metal complexes; the surface of doped oxide semiconductors. He is an expert in structural, absorptive, catalytic and photocatalytic properties, in structural organization and dynamic features of ionic liquids, in magnetic interactions between paramagnetic centers. The author or co-author of 3 books, over 200 articles and reviews in scientific journals and books. He is an actual member of the International EPR/ESR Society, European Society on Quantum Solar Energy Conversion, Moscow House of Scientists, of the Board of Moscow Physical Society.",institutionString:null,institution:{name:"Semenov Institute of Chemical Physics",country:{name:"Russia"}}},{id:"62389",title:"PhD.",name:"Ali Demir",middleName:null,surname:"Sezer",slug:"ali-demir-sezer",fullName:"Ali Demir Sezer",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/62389/images/3413_n.jpg",biography:"Dr. Ali Demir Sezer has a Ph.D. from Pharmaceutical Biotechnology at the Faculty of Pharmacy, University of Marmara (Turkey). He is the member of many Pharmaceutical Associations and acts as a reviewer of scientific journals and European projects under different research areas such as: drug delivery systems, nanotechnology and pharmaceutical biotechnology. Dr. Sezer is the author of many scientific publications in peer-reviewed journals and poster communications. Focus of his research activity is drug delivery, physico-chemical characterization and biological evaluation of biopolymers micro and nanoparticles as modified drug delivery system, and colloidal drug carriers (liposomes, nanoparticles etc.).",institutionString:null,institution:{name:"Marmara University",country:{name:"Turkey"}}},{id:"61051",title:"Prof.",name:"Andrea",middleName:null,surname:"Natale",slug:"andrea-natale",fullName:"Andrea Natale",position:null,profilePictureURL:"//cdnintech.com/web/frontend/www/assets/author.svg",biography:null,institutionString:null,institution:null},{id:"100762",title:"Prof.",name:"Andrea",middleName:null,surname:"Natale",slug:"andrea-natale",fullName:"Andrea Natale",position:null,profilePictureURL:"//cdnintech.com/web/frontend/www/assets/author.svg",biography:null,institutionString:null,institution:{name:"St David's Medical Center",country:{name:"United States of America"}}},{id:"107416",title:"Dr.",name:"Andrea",middleName:null,surname:"Natale",slug:"andrea-natale",fullName:"Andrea Natale",position:null,profilePictureURL:"//cdnintech.com/web/frontend/www/assets/author.svg",biography:null,institutionString:null,institution:{name:"Texas Cardiac Arrhythmia",country:{name:"United States of America"}}},{id:"64434",title:"Dr.",name:"Angkoon",middleName:null,surname:"Phinyomark",slug:"angkoon-phinyomark",fullName:"Angkoon Phinyomark",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/64434/images/2619_n.jpg",biography:"My name is Angkoon Phinyomark. I received a B.Eng. degree in Computer Engineering with First Class Honors in 2008 from Prince of Songkla University, Songkhla, Thailand, where I received a Ph.D. degree in Electrical Engineering. My research interests are primarily in the area of biomedical signal processing and classification notably EMG (electromyography signal), EOG (electrooculography signal), and EEG (electroencephalography signal), image analysis notably breast cancer analysis and optical coherence tomography, and rehabilitation engineering. I became a student member of IEEE in 2008. During October 2011-March 2012, I had worked at School of Computer Science and Electronic Engineering, University of Essex, Colchester, Essex, United Kingdom. In addition, during a B.Eng. I had been a visiting research student at Faculty of Computer Science, University of Murcia, Murcia, Spain for three months.\n\nI have published over 40 papers during 5 years in refereed journals, books, and conference proceedings in the areas of electro-physiological signals processing and classification, notably EMG and EOG signals, fractal analysis, wavelet analysis, texture analysis, feature extraction and machine learning algorithms, and assistive and rehabilitative devices. I have several computer programming language certificates, i.e. Sun Certified Programmer for the Java 2 Platform 1.4 (SCJP), Microsoft Certified Professional Developer, Web Developer (MCPD), Microsoft Certified Technology Specialist, .NET Framework 2.0 Web (MCTS). 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