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Compared to quad-rotor unmanned aerial vehicle (UAV), the tilting dual-rotor UAV is more prone to instability during exercises and disturbances. The purpose of this paper is using an active balance tail to enhance the hovering stability and motion smoothness of tilting dual-rotor UAV.

A balance tail is proposed and integrated into the tilting dual-rotor UAV to enhance hovering stability and motion smoothness. By strategically moving, the balance tail generates additional force and moment, which can promote the rapid stability of the UAV. Subsequently, the control strategy of the UAV is designed, and the influence of the swing of the balance tail at different installation positions with different masses on the dual-rotor UAV is analyzed through simulation. The accompany motion law and the active control, which is based on cascade Proportion Integration Differentiation (PID) control to enhance the hovering stability and motion smoothness of the UAV, are proposed.

The results demonstrate that active control has obvious adjustment effectiveness when the UAV moves to the target position or makes an emergency stop compared with the results of balance tail no swing and accompany motion.

The balance tail offers a straightforward means to enhance the motion smoothness of tilting dual-rotor UAV, rendering it safer and more reliable for practical applications.

The novelty of this works comes from the application of an active balance tail to improve the stability and motion smoothness of dual-rotor UAV.

This study aims to develop a methodology that extracts an architectural concept from a biological analogy that integrates forms and kinetic behavior to identify whether complex forms work better or simple forms with proper kinetic behavior for improving visual comfort and daylight performance.

The research employs a transdisciplinary approach using several methods consisting of a biomimetic functional-morphological approach, kinetic design strategy, case study comparison using algorithmic workflow and parametric simulation and inverse design, to develop an interactive kinetic façade with optimized daylight performance.

A key development is the introduction of a periodic interactive region (PIR), which draws inspiration from the butterfly wings' nanostructure. These findings challenge conventional perspectives on façade complexity, highlighting the efficacy of simpler shapes paired with appropriate kinetic behavior for improving visual comfort. The results show the façade with a simpler “Bookshelf” shape integrated with a tapered shape of the periodic interactive region, outperforms its more complex counterpart (Hyperbolic Paraboloid component) in terms of daylight performance and glare control, especially in southern orientations, ensuring occupant visual comfort by keeping cases in the imperceptible range while also delivering sufficient average spatial Daylight Autonomy of 89.07%, Useful Daylight Illuminance of 94.53% and Exceeded Useful Daylight Illuminance of 5.11%.

The investigation of kinetic façade studies reveals that precedent literature mostly focused on engineering and building physics aspects, leaving the architectural aspect underutilized during the development phase. Recent studies applied a biomimetic approach for involving the architectural elements besides the other aspects. While the biomimetic method has proven effective in meeting occupants' visual comfort needs, its emphasis has been primarily on the complex form which is difficult to apply within the kinetic façade development. This study can address two gaps: (1) the lack of an architectural aspect in the kinetic façade design specifically in the development of conceptual form and kinetic behavior dimensions and (2) exchanging the superficial biomimetic considerations with an in-depth investigation.

By analyzing the shortcomings of existing insulator robots, a novel ultra high voltage (UHV) insulator climbing robot, which could transfer between adjacent insulator strings, is proposed for operation on 800KV multiple-string insulators. An extended inchworm-like configuration was chosen and a stable gripping claw suitable for the insulator string was designed to enable the robot to multiple-string insulators. Then a set of nonheuristic structural parameters that can influence energy consumption was chosen to formulate a nonlinear optimization problem based on the configuration, which improved the energy efficiency of the robot during progressing along a string of insulator.

The purpose of this paper is to design an insulator climbing robot for operation on UHV multiple-string insulators, which could transfer between adjacent insulator strings and progressed along a string of insulator with high energy efficiency.

A physical prototype was constructed that can operate at the speed of six pieces per minute (approximately 1.44 meters per minute) on a single string and complete transference between adjacent strings in 45 s. The energy consumption of joints during progressed along a string of insulator had been reduced by 38.8% with the optimized parameters, demonstrating the consistency between the experimental and simulation results.

An insulator climbing robot for operation on UHV multiple-string insulators has been developed with energy consumption optimization design. The robot can transfer between adjacent insulator strings and progressed along a string of insulator with high energy efficiency. The CLIBOT could be expanded to detect or clean the insulators with similar specification.

The purpose of this study is to address the welding demands within large steel structures by presenting a global spatial motion planning algorithm for a mobile manipulator. This algorithm is based on an independently developed wall-climbing robot, which comprises a four-wheeled climbing mobile platform and a six-degree-of-freedom robotic manipulator, ensuring high mobility and operational flexibility.

A convex hull feasible domain constraint is developed for motion planning in the mobile manipulator. For extensive spatial movements, connected sequences of convex polyhedra are established between the composite robot’s initial and target states. The composite robot’s path and obstacle avoidance optimization problem are solved by constraining the control points on B-spline curves. A dynamic spatial constraint rapidlye-xploring random trees-connect (RRTC) motion planning algorithm is proposed for the manipulator, which quickly generates reference paths using spherical spatial constraints at the manipulator’s end, eliminating the need for complex nonconvex constraint modeling.

Experimental results show that the proposed motion planning algorithm achieves optimal paths that meet task constraints, significantly reducing computation times in task conditions and shortening operation times in non-task conditions.

The algorithm proposed in this paper holds certain application value for the realization of automated welding operations within large steel structures using mobile manipulator.

This paper explores the challenges of using cable-driven parallel robots on high-altitude, large-span facades, where redundancy in multicable systems and the elastic deformation of the cables are significant issues. This study aims to improve the accuracy and stability of the work platform through enhanced control strategies. These strategies address the redundancy in multicable systems and reduce the risks associated with cable deformation and mechanical failures during large-span movements.

The paper proposes a dynamic model for a four-rope parallel robot designed explicitly for large-span applications. The study introduces a position–force control strategy incorporating kinematic inverse solutions and a rope dynamics model to account for rope elasticity and its effects. This approach increases the number of system equations to match the unknowns, effectively solving the redundancy problem inherent in multicable systems. In addition, the tension changes of ropes and the stability of the working platform are examined under different motion distances (X = 50 m and X = 100 m) and varying Young’s modulus values (K = 5000 MPa and K = 8000 MPa).

This study’s large-span rope force–position control strategy successfully resolves the typical nonlinear characteristics and external disturbances in multicable parallel systems. By continuously monitoring and adjusting cable tension and end positions, this strategy ensures precise control over each cable’s tension, optimizes the distribution of cable tensions and maintains the system’s stability and response speed. The analysis in this paper indicates that this control strategy significantly improves the motion accuracy of robots operating on large-span high-altitude facades.

Industry adoption: The design and control strategies developed for the four-cable-driven parallel robot can be adopted by companies specializing in facade maintenance, construction or inspection. This could lead to safer, more efficient and cost-effective operations, especially in challenging environments like high-rise buildings. Innovation in robotic solutions: The research can inspire innovation within the field of robotics, particularly in developing robots for specific applications such as large surface maintenance. It showcases how adaptive control and stability can be achieved in complex operational scenarios. Safety improvements: By demonstrating a more stable and precise control mechanism for navigating large facades, the study could contribute to significant safety improvements, reducing the risk of accidents associated with manual facade maintenance and inspection tasks.

This paper combines the force/position hybrid control method with actual robotic applications, offering a novel solution to the complex issue of controlling cable-driven parallel robots in challenging environments. Thus, it contributes to the field. The proposed method significantly enhances the precision and stability of such systems and provides robust technical support for high-precision tasks in complex mechanical settings.

Inspired by the high-friction performance of the soft toe pads of tree frogs, this study aims to investigate the effect of elastic deformation on the lubrication properties of squeezing films inside soft tribocontacts with microstructured surface under wet conditions.

A one-dimensional hydrodynamic extrusion model was used to study the film lubrication characteristics of conformal contact. The lubrication characteristics of the extruded film, including load-carrying capacity, liquid flow and surface elastic deformation, were obtained through the simultaneously iterative solution of the fluid-governing and deformation equations.

The results show that the hydrodynamic pressure is approximating parabolically and symmetrically distributed in the contact area, and the peak value appears in the center of the extrusion surface. Elastic deformation increases the thickness of the liquid film, weakens the bearing capacity and homogenizes the liquid flow rate of inside soft friction contact. The magnitude of this effect greatly increases as the initial liquid film thickness decreases. Moreover, the elastic deformation directly affects the average film thickness of the extrusion contact. Narrow and shallow microchannels are found to result in a more prominent elastic deformation on the microstructured soft surface.

These results present a design for soft tribocontacts suitable for submerged or wet environments involving high friction, such as wiper blades, in situ flexible electrons and underwater robots.

The peer review history for this article is available at: https://publons.com/publon/10.1108/ILT-02-2024-0049/

To setup a theoretical model for grasping cutting pieces of garment better, which will help to design a special soft gripper and push forward the automated level of garment manufacturing.

This paper first analyzed the mechanics of the grasping process and concluded the main factors that affect the success of grasping. A theoretical model named grasping fabric model (GFM) was constructed to show the mechanical relationship between the soft gripper and the fabric pieces. Subsequently, two fabric samples were selected and tested for their friction properties and critical buckling force, and the test data were substituted into the theoretical model GFM to obtain the grasping parameters required for fabric grasping layer by layer.

It was found that (1) the critical buckling force of the fabric is mainly influenced by the bending stiffness and the deformation length of the fabric during grab. (2) The difference between the friction between the soft gripper and the fabric and the friction between the fabric, that is DF1-2, has an important influence on the accuracy of grasping layer-by-layer.

It showed that the grasping parameters provided by GFM enable the two samples to be more effectively separated layer by layer, which verifies that the GFM model is strong enough for the possible application in garment automated production.

Gas-insulated switchgear (GIS) stands as a pivotal component in power systems, susceptible to partial discharge occurrences. Nevertheless, manual inspection proves labor-intensive, exhibits a low defect detection rate. Conventional inspection robots face limitations, unable to perform live line measurements or adapt effectively to diverse environmental conditions. This paper aims to introduce a novel solution: the GIS ultrasonic partial discharge detection robot (GBOT), designed to assume the role of substation personnel in inspection tasks.

GBOT is a mobile manipulator system divided into three subsystems: autonomous location and navigation, vision-guided and force-controlled manipulator and data detection and analysis. These subsystems collaborate, incorporating simultaneous localization and mapping, path planning, target recognition and signal processing, admittance control. This paper also introduces a path planning method designed to adapt to the substation environment. In addition, a flexible end effector is designed for full contact between the probe and the device.

The robot fulfills the requirements for substation GIS inspections. It can conduct efficient and low-cost path planning with narrow passages in the constructed substation map, realizes a sufficiently stable detection contact and perform high defect detection rate.

The robot mitigates the labor intensity of grid maintenance personnel, enhances inspection efficiency and safety and advances the intelligence and digitization of power equipment maintenance and monitoring. This research also provides valuable insights for the broader application of mobile manipulators in diverse fields.

The robot is a mobile manipulator system used in GIS detection, offering a viable alternative to grid personnel for equipment inspections. Comparing with the previous robotic systems, this system can work in live electrical detection, demonstrating robust environmental adaptability and superior efficiency.

This study aims to apply the predictive processing theory to examine the influence of artificial intelligence (AI)-driven robotic performers on audience emotions and the audience’s resulting electronic word-of-mouth (eWOM) behaviors during tourism service encounters.

Using a quantitative research methodology, survey responses from 339 regular customers of performing arts in tourism destinations were analyzed. The respondents were recruited through Prolific, a professional data collection platform. SPSS 23.0 was used for the preliminary analysis, from which a research model to achieve the aim was proposed. SmartPLS 3 was used for partial least squares structural equation modeling to test the model.

Interactive and novel robotic performances significantly encouraged the consumers to share their experiences online, thereby enhancing eWOM. However, melodic resonance had no significant impact on eWOM intentions. The consumers’ emotional responses fully mediated the relationship of the novelty and interactivity of the performances to the consumers’ eWOM intentions but did not mediate the relationship of the musical elements to their eWOM intentions.

This study enriches the understanding of how AI-driven performances impact consumers’ emotional engagement and sharing behaviors. It extends the application of the predictive processing theory to the domain of consumer behavior, offering valuable insights for enhancing audience engagement in performances through technological innovation.

本研究旨在运用预测处理理论, 考察人工智能（AI）驱动的机器人表演对观众情感及其在旅游服务接触中的电子口碑（eWOM）行为的影响。。

采用定量研究方法, 分析了339名经常观看旅游景点表演艺术的常客的调查问卷。受访者通过专业数据收集平台Prolific招募。初步分析使用SPSS 23.0进行, 从中提出了实现研究目标的研究模型。使用SmartPLS 3进行偏最小二乘结构方程模型测试该模型。

互动性和新颖性的机器人表演显著鼓励消费者在线分享他们的体验, 从而增强电子口碑。然而, 旋律共鸣对电子口碑意图没有显著影响。消费者的情感反应完全中介了表演的新颖性和互动性与消费者电子口碑意图之间的关系, 但没有中介音乐元素与电子口碑意图之间的关系。

本研究丰富了对AI驱动表演如何影响消费者情感参与和分享行为的理解。将预测处理理论的应用扩展到消费者行为领域, 为通过技术创新增强观众参与度提供了宝贵的见解。

This paper aims to deal with the force and position tracking problem when a robot performs a task in interaction with an unknown environment and presents a hybrid control strategy based on variable admittance control and fixed-time control.

A hybrid control strategy based on variable admittance control and fixed-time control is presented. Firstly, a variable stiffness admittance model control based on proportional integral and differential (PID) is adopted to maintain the expected force value during the task execution. Secondly, a fixed-time controller based on radial basis function neural network (RBFNN) is introduced to handle the model uncertainties and ensure the fast position tracking convergence of the robot system, while the singularity problem is also avoided by designing the virtual control variable with piecewise function.

Simulation studies conducted on the robot manipulator with two degrees of freedom have verified the superior performance of the proposed control strategy comparing with other methods.

A hybrid control scheme for robot–environment interaction is presented, in which the variable stiffness admittance method is adopted to adjust the interaction force to the desired value, and the RBFNN-based fixed-time position controller without singularity problem is designed to ensure the fast convergence of the robot system with model uncertainty.