Search results

The purpose of this paper is to propose a two-degrees-of-freedom wire-driven 4SPS/U rigid‒flexible parallel trunk joint mechanism based on spring, in order to improve the robot’s athletic ability, load capacity and rigidity, and to ensure the coordination of multi-modal motion.

First, based on the rotation transformation matrix and closed-loop constraint equation of the parallel trunk joint mechanism, the mathematical model of its inverse position solution is constructed. Then, the Jacobian matrix of velocity and acceleration is derived by time derivative method. On this basis, the stiffness matrix of the parallel trunk joint mechanism is derived on the basis of the principle of virtual work and combined with the deformation effect of the rope driving pair and the spring elastic restraint pair. Then, the eigenvalue distribution of the stiffness matrix and the global stiffness performance index are used as the stiffness evaluation index of the mechanism. In addition, the performance index of athletic dexterity is analyzed. Finally, the distribution map of kinematic dexterity and stiffness is drawn in the workspace by numerical simulation, and the influence of the introduced spring on the stiffness distribution of the parallel trunk joint mechanism is compared and analyzed. It is concluded that the stiffness in the specific direction of the parallel trunk joint mechanism can be improved, and the stiffness distribution can be improved by adjusting the spring elastic structure parameters of the rope-driven branch chain.

Studies have shown that the wire-driven 4SPS/U rigid‒flexible parallel trunk joint mechanism based on spring has a great kinematic dexterity, load-carrying capacity and stiffness performance.

The soft-mixed structure is not mature, and there are few new materials for the soft-mixed mixture; the rope and the rigid structure are driven together with a large amount of friction and hindrance factors, etc.

It ensures that the multi-motion mode hexapod mobile robot can meet the requirement of sufficient different stiffness for different motion postures through the parallel trunk joint mechanism, and it ensures that the multi-motion mode hexapod mobile robot in multi-motion mode can meet the performance requirement of global stiffness change at different pose points of different motion postures through the parallel trunk joint mechanism.

The trunk structure is a very critical mechanism for animals. Animals in the movement to achieve smooth climbing, overturning and other different postures, such as centipede, starfish, giant salamander and other multi-legged animals, not only rely on the unique leg mechanism, but also must have a unique trunk joint mechanism. Based on the cooperation of these two mechanisms, the animal can achieve a stable, flexible and flexible variety of motion characteristics. Therefore, the trunk joint mechanism has an important significance for the coordinated movement of the whole body of the multi-sport mode mobile robot (Huang Hu-lin, 2016).

In this paper, based on the idea of combining rigid parallel mechanism with wire-driven mechanism, a trunk mechanism is designed, which is composed of four spring-based wire-driven 4SPS/U rigid‒flexible parallel trunk joint mechanism in series. Its spring-based wire-driven 4SPS/U rigid‒flexible parallel trunk joint mechanism can make the multi-motion mode mobile robot have better load capacity, mobility and stiffness performance (Qi-zhi et al., 2018; Cong-hao et al., 2018), thus improving the environmental adaptability and reliability of the multi-motion mode mobile robot.

Wireless sensor networks (WSNs) are periodically collecting data through randomly dispersed sensors (motes), which typically consume high energy in radio communication that mainly leans on data transmission within the network. Furthermore, dissemination mode in WSN usually produces noisy values, incorrect measurements or missing information that affect the behaviour of WSN. In this article, a Distributed Data Predictive Model (DDPM) was proposed to extend the network lifetime by decreasing the consumption in the energy of sensor nodes. It was built upon a distributive clustering model for predicting dissemination-faults in WSN. The proposed model was developed using Recursive least squares (RLS) adaptive filter integrated with a Finite Impulse Response (FIR) filter, for removing unwanted reflections and noise accompanying of the transferred signals among the sensors, aiming to minimize the size of transferred data for providing energy efficient. The experimental results demonstrated that DDPM reduced the rate of data transmission to ∼20%. Also, it decreased the energy consumption to 95% throughout the dataset sample and upgraded the performance of the sensory network by about 19.5%. Thus, it prolonged the lifetime of the network.

Unlike conventional aircraft, birds can glide without a vertical tail. The purpose of this paper is to analyse the influence of dihedral angle spanwise distribution on lateral-directional dynamic stability by the simulation, calculation in the development of the bird-inspired aircraft and the flight testing.

The gliding magnificent frigatebird (Fregata magnificens) was selected as the study object. The geometric and mass model of the study object were developed. Stability derivatives and moments of inertia were obtained. The lateral-directional stability was assessed under different spanwise distributions of dihedral angle. A bird-inspired aircraft was developed, and a flight test was carried out to verify the analysed results.

The results show that spanwise distribution changing of dihedral angle has influence on the lateral-directional mode stability. All of the analysed configurations have convergent Dutch roll mode and rolling mode. The key role of dihedral angle changing is to achieve a convergent spiral mode. Flight test results show that the bird-inspired aircraft has a well-convergent Dutch roll mode.

The theory that birds can achieve its lateral-directional stability by changing its dihedral angle spanwise distribution may explain the stability mechanism of gliding birds.

This paper helps to improve the understanding of bird gliding stability mechanism and provides bio-inspired solutions in aircraft designing.

The purpose of this paper is to generalize the traditional risk evaluation methods and to specify a multi-level risk evaluation framework, in order to prepare customized risk evaluation and to enable effectively integrating the elements of risk evaluation.

A real case study of an electric motor manufacturing company is presented to illustrate the advantages of this new framework compared to the traditional and fuzzy failure mode and effect analysis (FMEA) approaches.

The essence of the proposed total risk evaluation framework (TREF) is its flexible approach that enables the effective integration of firms’ individual requirements by developing tailor-made organizational risk evaluation.

Increasing product/service complexity has led to increasingly complex yet unique organizational operations; as a result, their risk evaluation is a very challenging task. Distinct structures, characteristics and processes within and between organizations require a flexible yet robust approach of evaluating risks efficiently. Most recent risk evaluation approaches are considered to be inadequate due to the lack of flexibility and an inappropriate structure for addressing the unique organizational demands and contextual factors. To address this challenge effectively, taking a crucial step toward customization of risk evaluation.

This work introduces an efficient and accurate technique to solve the eddy current problem in laminated iron cores considering vector hysteresis.

The mixed multiscale finite element method based on the based on the T,Φ-Φ formulation, with the current vector potential T and the magnetic scalar potential Φ allows the laminated core to be modelled as a single homogeneous block. This means that the individual sheets do not have to be resolved, which saves a lot of computing time and reduces the demands on the computer system enormously.

As a representative numerical example, a single-phase transformer with 4, 20 and 184 sheets is simulated with great success. The eddy current losses of the simulation using the standard finite element method and the simulation using the mixed multiscale finite element method agree very well and the required simulation time is tremendously reduced.

The vector Preisach model is used to account for vector hysteresis and is integrated into the mixed multiscale finite element method for the first time.

This paper reports a new technique for achieving optimized design for power system stabilizers. In any large scale interconnected systems, disturbances of small magnitudes are very common and low frequency oscillations pose a major problem. Hence small signal stability analysis is very important for analyzing system stability and performance. Power System Stabilizers (PSS) are used in these large interconnected systems for damping out low-frequency oscillations by providing auxiliary control signals to the generator excitation input. In this paper, collective decision optimization (CDO) algorithm, a meta-heuristic approach based on the decision making approach of human beings, has been applied for the optimal design of PSS. PSS parameters are tuned for the objective function, involving eigenvalues and damping ratios of the lightly damped electromechanical modes over a wide range of operating conditions. Also, optimal locations for PSS placement have been derived. Comparative study of the results obtained using CDO with those of grey wolf optimizer (GWO), differential Evolution (DE), Whale Optimization Algorithm (WOA) and crow search algorithm (CSA) methods, established the robustness of the algorithm in designing PSS under different operating conditions.

Mobile phone-based human activity recognition (HAR) consists of inferring user’s activity type from the analysis of the inertial mobile sensor data. This paper aims to mainly introduce a new classification approach called adaptive k-nearest neighbors (AKNN) for intelligent HAR using smartphone inertial sensors with a potential real-time implementation on smartphone platform.

The proposed method puts forward several modification on AKNN baseline by using kernel discriminant analysis for feature reduction and hybridizing weighted support vector machines and KNN to tackle imbalanced class data set.

Extensive experiments on a five large scale daily activity recognition data set have been performed to demonstrate the effectiveness of the method in terms of error rate, recall, precision, F1-score and computational/memory resources, with several comparison with state-of-the art methods and other hybridization modes. The results showed that the proposed method can achieve more than 50% improvement in error rate metric and up to 5.6% in F1-score. The training phase is also shown to be reduced by a factor of six compared to baseline, which provides solid assets for smartphone implementation.

This work builds a bridge to already growing work in machine learning related to learning with small data set. Besides, the availability of systems that are able to perform on flight activity recognition on smartphone will have a significant impact in the field of pervasive health care, supporting a variety of practical applications such as elderly care, ambient assisted living and remote monitoring.

The purpose of this study is to build and test an accurate offline model by using only a compact training data that can reduce the computational and memory complexity of the system. This provides grounds for developing new innovative hybridization modes in the context of daily activity recognition and smartphone-based implementation. This study demonstrates that the new AKNN is able to classify the data without any training step because it does not use any model for fitting and only uses memory resources to store the corresponding support vectors.

The purpose of this paper is to describe a proposal for a data-driven investigation aimed at determining whether students’ learning behavior can be extracted and visualized from action logs recorded by Moodle. The paper also tried to show whether there is a correlation between the activity level of students in online environments and their academic performance with respect to final grade.

The analysis was carried out using log data obtained from various courses dispensed in a university using a Moodle platform. The study also collected demographic profiles of students and compared them with their activity level in order to analyze how these attributes affect students’ level of activity in the online environment.

This work has shown that data mining algorithm like vector space model can be used to aggregate the action logs of students and quantify it into a single numeric value that can be used to generate visualizations of students’ level of activity. The current investigation indicates that there is a lot of variability in terms of the correlation between these two variables.

The value presented in the study can help instructors monitor course progression and enable them to rapidly identify which students are not performing well and adjust their pedagogical strategies accordingly.

A plan to continue the work by developing a complete dashboard style interface that instructors can use is already underway. More data need to be collected and more advanced processing tools are necessary in order to obtain a better perspective on this issue.

The purpose of this paper is to investigate US noncombatant evacuation operations (NEO) in South Korea and devise planning and management procedures that improve the efficiency of those missions.

It formulates a time-staged network model of the South Korean noncombatant evacuation system as a mixed integer linear program to determine an optimal flow configuration that minimizes the time required to complete an evacuation. This solution considers the capacity and resource constraints of multiple transportation modes and effectively allocates the limited assets across a time-staged network to create a feasible evacuation plan. That solution is post-processed and a vehicle routing procedure then produces a high resolution schedule for each individual asset throughout the entire duration of the NEO.

This work makes a clear improvement in the decision-making and resource allocation methodology currently used in a NEO on the Korea peninsula. It immediately provides previously unidentifiable information regarding the scope and requirements of a particular evacuation scenario and then produces an executable schedule for assets to facilitate mission accomplishment.

The significance of this work is not relegated only to evacuation operations on the Korean peninsula; there are numerous other NEO and natural disaster related scenarios that can benefit from this approach.

Studies on the Transit-Oriented Development (TOD) for Bangkok are found sparingly. The TOD concept is a supportive development for the rapidly changing city in order to reduce urban transport problems while encouraging people to shift transport modes to use public transportations instead of private cars. This study discusses the context of TOD in the density, the design, and the diversity of land use around transit stations among successful stations in many countries. There were 18 station areas in Bangkok which, by using the TOD Readiness score, the assessment of the stations implies that the higher scoring transit stations are more compatible to supporting pedestrian use of the transit station with lower car dependency. The 4 top-scoring stations were assessing by using multinomial logistic regression model. The study has found TOD scores and the frequent uses of the stations consequently encourage the commuters around the station areas decided to rely on public transport instead of car dependency. This is an effort to overcome the understanding of the station areas by reducing the complexity of the TOD contexts to any transit station in Thailand to be eligible for future study.