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To provide high torques needed to move a robot’s links, electric actuators are followed by a transmission system with a high transmission rate. For instance, gear ratios of 100:1 are often used in the joints of a robotic manipulator. This results into an actuator with large mechanical impedance (also known as nonback-drivable actuator). This in turn generates high contact forces when collision of the robotic mechanism occur and can cause humans’ injury. Another disadvantage of electric actuators is that they can exhibit overheating when constant torques have to be provided. Comparing to electric actuators, pneumatic actuators have promising properties for robotic applications, due to their low weight, simple mechanical design, low cost and good power-to-weight ratio. Electropneumatically actuated robots usually have better friction properties. Moreover, because of low mechanical impedance, pneumatic robots can provide moderate interaction forces which is important for robotic surgery and rehabilitation tasks. Pneumatic actuators are also well suited for exoskeleton robots. Actuation in exoskeletons should have a fast and accurate response. While electric motors come against high mechanical impedance and the risk of causing injuries, pneumatic actuators exhibit forces and torques which stay within moderate variation ranges. Besides, unlike direct current electric motors, pneumatic actuators have an improved weight-to-power ratio and avoid overheating problems.

The aim of this paper is to analyze a nonlinear optimal control method for electropneumatically actuated robots. A two-link robotic exoskeleton with electropneumatic actuators is considered as a case study. The associated nonlinear and multivariable state-space model is formulated and its differential flatness properties are proven. The dynamic model of the electropneumatic robot is linearized at each sampling instance with the use of first-order Taylor series expansion and through the computation of the associated Jacobian matrices. Within each sampling period, the time-varying linearization point is defined by the present value of the robot’s state vector and by the last sampled value of the control inputs vector. An H-infinity controller is designed for the linearized model of the robot aiming at solving the related optimal control problem under model uncertainties and external perturbations. An algebraic Riccati equation is solved at each time-step of the control method to obtain the stabilizing feedback gains of the H-infinity controller. Through Lyapunov stability analysis, it is proven that the robot’s control scheme satisfies the H-infinity tracking performance conditions which indicate the robustness properties of the control method. Moreover, global asymptotic stability is proven for the control loop. The method achieves fast convergence of the robot’s state variables to the associated reference trajectories, and despite strong nonlinearities in the robot’s dynamics, it keeps moderate the variations of the control inputs.

In this paper, a novel solution has been proposed for the nonlinear optimal control problem of robotic exoskeletons with electropneumatic actuators. As a case study, the dynamic model of a two-link lower-limb robotic exoskeleton with electropneumatic actuators has been considered. The dynamic model of this robotic system undergoes first approximate linearization at each iteration of the control algorithm around a temporary operating point. Within each sampling period, this linearization point is defined by the present value of the robot’s state vector and by the last sampled value of the control inputs vector. The linearization process relies on first-order Taylor series expansion and on the computation of the associated Jacobian matrices. The modeling error which is due to the truncation of higher-order terms from the Taylor series is considered to be a perturbation which is asymptotically compensated by the robustness of the control algorithm. To stabilize the dynamics of the electropneumatically actuated robot and to achieve precise tracking of reference setpoints, an H-infinity (optimal) feedback controller is designed. Actually, the proposed H-infinity controller for the model of the two-link electropneumatically actuated exoskeleton achieves the solution of the associated optimal control problem under model uncertainty and external disturbances. This controller implements a min-max differential game taking place between: (i) the control inputs which try to minimize a cost function which comprises a quadratic term of the state vector’s tracking error and (ii) the model uncertainty and perturbation inputs which try to maximize this cost function. To select the stabilizing feedback gains of this H-infinity controller, an algebraic Riccati equation is being repetitively solved at each time-step of the control method. The global stability properties of the H-infinity control scheme are proven through Lyapunov analysis.

Pneumatic actuators are characterized by high nonlinearities which are due to air compressibility, thermodynamics and valves behavior and thus pneumatic robots require elaborated nonlinear control schemes to ensure their fast and precise positioning. Among the control methods which have been applied to pneumatic robots, one can distinguish differential geometric approaches (Lie algebra-based control, differential flatness theory-based control, nonlinear model predictive control [NMPC], sliding-mode control, backstepping control and multiple models-based fuzzy control). Treating nonlinearities and fault tolerance issues in the control problem of robotic manipulators with electropneumatic actuators has been a nontrivial task.

The novelty of the proposed control method is outlined as follows: preceding results on the use of H-infinity control to nonlinear dynamical systems were limited to the case of affine-in-the-input systems with drift-only dynamics. These results considered that the control inputs gain matrix is not dependent on the values of the system’s state vector. Moreover, in these approaches the linearization was performed around points of the desirable trajectory, whereas in the present paper’s control method the linearization points are related with the value of the state vector at each sampling instance as well as with the last sampled value of the control inputs vector. The Riccati equation which has been proposed for computing the feedback gains of the controller is novel, so is the presented global stability proof through Lyapunov analysis. This paper’s scientific contribution is summarized as follows: (i) the presented nonlinear optimal control method has improved or equally satisfactory performance when compared against other nonlinear control schemes that one can consider for the dynamic model of robots with electropneumatic actuators (such as Lie algebra-based control, differential flatness theory-based control, nonlinear model-based predictive control, sliding-mode control and backstepping control), (ii) it achieves fast and accurate tracking of all reference setpoints, (iii) despite strong nonlinearities in the dynamic model of the robot, it keeps moderate the variations of the control inputs and (iv) unlike the aforementioned alternative control approaches, this paper’s method is the only one that achieves solution of the optimal control problem for electropneumatic robots.

The use of electropneumatic actuation in robots exhibits certain advantages. These can be the improved weight-to-power ratio, the lower mechanical impedance and the avoidance of overheating. At the same time, precise positioning and accurate execution of tasks by electropneumatic robots requires the application of elaborated nonlinear control methods. In this paper, a new nonlinear optimal control method has been developed for electropneumatically actuated robots and has been specifically applied to the dynamic model of a two-link robotic exoskeleton. The benefit from using this paper’s results in industrial and biomedical applications is apparent.

A comparison of the proposed nonlinear optimal (H-infinity) control method against other linear and nonlinear control schemes for electropneumatically actuated robots shows the following: (1) Unlike global linearization-based control approaches, such as Lie algebra-based control and differential flatness theory-based control, the optimal control approach does not rely on complicated transformations (diffeomorphisms) of the system’s state variables. Besides, the computed control inputs are applied directly on the initial nonlinear model of the electropneumatic robot and not on its linearized equivalent. The inverse transformations which are met in global linearization-based control are avoided and consequently one does not come against the related singularity problems. (2) Unlike model predictive control (MPC) and NMPC, the proposed control method is of proven global stability. It is known that MPC is a linear control approach that if applied to the nonlinear dynamics of the electropneumatic robot, the stability of the control loop will be lost. Besides, in NMPC the convergence of its iterative search for an optimum depends on initialization and parameter values selection and consequently the global stability of this control method cannot be always assured. (3) Unlike sliding-mode control and backstepping control, the proposed optimal control method does not require the state-space description of the system to be found in a specific form. About sliding-mode control, it is known that when the controlled system is not found in the input-output linearized form the definition of the sliding surface can be an intuitive procedure. About backstepping control, it is known that it cannot be directly applied to a dynamical system if the related state-space model is not found in the triangular (backstepping integral) form. (4) Unlike PID control, the proposed nonlinear optimal control method is of proven global stability, the selection of the controller’s parameters does not rely on a heuristic tuning procedure, and the stability of the control loop is assured in the case of changes of operating points. (5) Unlike multiple local models-based control, the nonlinear optimal control method uses only one linearization point and needs the solution of only one Riccati equation so as to compute the stabilizing feedback gains of the controller. Consequently, in terms of computation load the proposed control method for the electropneumatic actuator’s dynamics is much more efficient.

In typical model-based calibration, linearization errors are derived inevitably, and non-negligible negative impact will be induced on the identification results if the rotational kinematic errors are not small enough or the lengths of links are too long, which is common in the industrial cases. Thus, an accurate two-step kinematic calibration method minimizing the linearization errors is presented for a six-DoF serial robot to improve the calibration accuracy.

The negative impact of linearization on identification accuracy is minimized by removing the responsible linearized kinematic errors from the complete kinematic error model. Accordingly, the identification results of the dimension-reduced new model are accurate but not complete, so the complete kinematic error model, which achieves high identification accuracy of the rest of the error parameters, is combined with this new model to create a two-step calibration procedure capable of highly accurate identification of all the kinematic errors.

The proportions of linearization errors in measured pose errors are quantified and found to be non-negligible with the increase of rotational kinematic errors. Thus, negative impacts of linearization errors are analyzed quantitatively in different cases, providing the basis for allowed kinematic errors in the new model. Much more accurate results were obtained by using the new two-step calibration method, according to a comparison with the typical methods.

This new method achieves high accuracy with no compromise on completeness, is easy to operate and is consistent with the typical method because the second step with the new model is conveniently combined without changing the sensors or measurement instrument setup.

Amidst unpredictable and turbulent periods, such as the COVID-19 pandemic, service organization’s responses are required to be innovative, adaptable and resilient. The purpose of this study is to explore the utilization of both reconfiguration and transformational strategies as instruments for cultivating resilience and advancing sustainability in service organizations.

The study examines a proposed resilience model using fuzzy logic. The research also used a semantic differential scale to capture nuanced and intricate attitudes. Finally, to augment the validity of the resilience model, a measurement scale was formulated using business mathematics and expert opinions.

Although investing in resilience training can help organizations gain control and maintain their operations in times of crisis, it may not directly help service organizations understand the external turmoil, seek available resources or create adaptive remedies. Conversely, high levels of reconfiguration and transformation management vigour empower a service organization’s revolutionary, malleable vision, organizational structure and decision-making processes, welcoming talented and innovative employees to enhance capabilities during crises.

The resilience model bestows a comprehensive understanding of the pertinence of building resilience for service organizations identifying the antecedents that influence the adoption of these strategies and introduces a range of theoretical perspectives that empowers service organizations to conceptualize and plan for building resilience. The research guides service organizations to become more resilient to external shocks and adapt to changing circumstances by diversifying their offerings, optimizing their resources and adopting flexible work arrangements. The study elaborates on the enhancement of resilience, increasing innovation, improving efficiency and enhancing customer satisfaction for service organizations to remain competitive and contribute to positive social and economic outcomes through the adoption of both reconfiguration and transformational strategies.

The study also guides the service organizations to become more resilient to external shocks and adapt to changing circumstances by diversifying their offerings, optimizing their resources and adopting flexible work arrangements. Rapid innovation and business model innovation are essential components, enabling service organizations to foster a culture of innovation and remain competitive. In addition, the adoption can lead to improved financial performance, job creation and economic growth, contributing to positive social and economic impacts.

The resilience model bestows a comprehensive understanding of the pertinence of building resilience for service organizations. It identifies the antecedents that influence the adoption of these strategies and introduces a range of theoretical perspectives that empowers service organizations to conceptualize and plan for building resilience. The research also provides a foundation for further investigation into the effectiveness of these strategies and their impact on organizational performance and sustainability. By better preparing service organizations for disruptions and uncertainties, this research triggers ameliorated organizational performance and sustainability.

Within the realm of the service industry, the present investigation has undertaken the development, quantification and scrutiny of both resilience and tenacity. In addition, it has delved into the intricate dynamics surrounding the influencing factors and antecedents that bear upon resilience, elucidating their consequential impact on the operational performance and outlook of service-oriented organizations. The findings derived from this research furnish valuable insights germane to enhancing operational efficacy and surmounting impediments within the sector.

This paper aims to propose the mechanism of cross-network effect embedded, which can help cross-border e-commerce (CBEC) platforms strengthen cooperative relationships with sellers more equitably and effectively by using the network structural characteristics of the platforms themselves.

A two-stage evolutionary game model has been used to confirm the influence factors. The mathematical derivation of evolutionary game analysis is combined with the simulation method to examine the role of cross-network effect in cooperation. The evolutionary game model based on the cross-network effect is proposed to achieve better adaptability to the study of cooperation strategy from the two-sided market perspective.

The evolutionary game model captures the interactions of cross-network effect and the influence factors from a dynamic perspective. The cross-network effect has a certain substitution on the revenue-sharing rate of SMEs. CBEC platforms can enhance the connection between consumers and the website by improving the level of construction, which is a good way to attract sellers more cost-effectively and efficiently.

This study provides a new method for the validation of the cross-network effect, especially when data collection is difficult. But this method is only a numerical simulation. So the conclusions still need to be further tested empirically. Besides, researchers are advised to explore the relationship between the added user scale and the cross-network effect in some specificCBEC platforms.

This study provides a new method for the validation of the cross-network effect, especially when data collection is difficult. But this method is only a numerical simulation. So the conclusions still need to be further tested empirically. Besides, researchers are advised to explore the relationship between the added user scale and the cross-network effect in some specific CBEC platforms.

Investigations that study cooperation strategy from the cross-network effect perspective in CBEC are limited. The research figured out which influence factors are affected by the cross-network effect in cooperation. A two-stage evolutionary game model was proposed to explain the interaction of the factors. The evolutionary game analysis with a simulation method was combined to highlight the role of cross-network effect on cooperation strategy to give a deeper investigation into the sustainable cooperation ofCBEC.

This paper aims to present a novel adaptive sliding mode control (ASMC) method based on the predefined performance barrier function for reusable launch vehicle under attitude constraints and mismatched disturbances.

A novel ASMC based on barrier function is adopted to deal with matched and mismatched disturbances. The upper bounds of the disturbances are not required to be known in advance. Meanwhile, a predefined performance function (PPF) with prescribed convergence time is used to adjust the boundary of the barrier function. The transient performance, including the overshoot, convergence rate and settling time, as well as the steady-state performance of the attitude tracking error are retained in the predetermined region under the barrier function and PPF. The stability of the proposed control method is analyzed via Lyapunov method.

In contrast to conventional adaptive back-stepping methods, the proposed method is comparatively simple and effective which does not need to disassemble the control system into multiple first-order systems. The proposed barrier function based on PPF can adjust not only the switching gain in an adaptive way but also the convergence time and steady-state error. And the efficiency of the proposed method is illustrated by conducting numerical simulations.

A novel barrier function based ASMC method is proposed to fit in the amplitude of the mismatched and matched disturbances. The transient and steady-state performance of attitude tracking error can be selected as prior control parameters.

The purpose of this study is to explore numerical scrutinization of micropolar and Walters-B non-Newtonian fluids motion under the influence of thermal radiation and chemical reaction.

The two fluids micropolar and Walters-B liquid are considered to start flowing from the slot to the stretching sheet. A magnetic field of constant strength is imposed on their flow transversely. The problems on heat and mass transport are set up with thermal, chemical reaction, heat generation, etc. to form partial differential equations. These equations were simplified into a dimensionless form and solved using spectral homotopy analysis method (SHAM). SHAM uses the basic concept of both Chebyshev pseudospectral method and homotopy analysis method to obtain numerical computations of the problem.

The outcomes for encountered flow parameters for temperature, velocity and concentration are presented with the aid of figures. It is observed that both the velocity and angular velocity of micropolar and Walters-B and thermal boundary layers increase with increase in the thermal radiation parameter. The decrease in velocity and decrease in angular velocity occurred are a result of increase in chemical reaction. It is hoped that the present study will enhance the understanding of boundary layer flow of micropolar and Walters-B non-Newtonian fluid under the influences of thermal radiation, thermal conductivity and chemical reaction as applied in various engineering processes.

All results are presented graphically and all physical quantities are computed and tabulated.

Automatic modulation recognition (AMR) is a challenging problem in intelligent communication systems and has wide application prospects. At present, although many AMR methods based on deep learning have been proposed, the methods proposed by these works cannot be directly applied to the actual wireless communication scenario, because there are usually two kinds of dilemmas when recognizing the real modulated signal, namely, long sequence and noise. This paper aims to effectively process in-phase quadrature (IQ) sequences of very long signals interfered by noise.

This paper proposes a general model for a modulation classifier based on a two-layer nested structure of long short-term memory (LSTM) networks, called a two-layer nested structure (TLN)-LSTM, which exploits the time sensitivity of LSTM and the ability of the nested network structure to extract more features, and can achieve effective processing of ultra-long signal IQ sequences collected from real wireless communication scenarios that are interfered by noise.

Experimental results show that our proposed model has higher recognition accuracy for five types of modulation signals, including amplitude modulation, frequency modulation, gaussian minimum shift keying, quadrature phase shift keying and differential quadrature phase shift keying, collected from real wireless communication scenarios. The overall classification accuracy of the proposed model for these signals can reach 73.11%, compared with 40.84% for the baseline model. Moreover, this model can also achieve high classification performance for analog signals with the same modulation method in the public data set HKDD_AMC36.

At present, although many AMR methods based on deep learning have been proposed, these works are based on the model’s classification results of various modulated signals in the AMR public data set to evaluate the signal recognition performance of the proposed method rather than collecting real modulated signals for identification in actual wireless communication scenarios. The methods proposed in these works cannot be directly applied to actual wireless communication scenarios. Therefore, this paper proposes a new AMR method, dedicated to the effective processing of the collected ultra-long signal IQ sequences that are interfered by noise.

Studying the shear stress and pressure resulting on the walls of blood vessels, especially during high-pressure cases, which may lead to the explosion or rupture of these vessels, can also lead to the death of many patients. Therefore, it was necessary to try to control the shear and normal stresses on these veins through nanoparticles in the presence of some external forces, such as exposure to some electromagnetic shocks, to reduce the risk of high pressure and stress on those blood vessels. This study aims to examines the shear and normal stresses of electroosmotic-magnetized Sutterby Buongiorno’s nanofluid in a symmetric peristaltic channel with a moderate Reynolds number and curvature. The production of thermal radiation is also considered. Sutterby nanofluids equations of motion, energy equation, nanoparticles concentration, induced magnetic field and electric potential are calculated without approximation using small and long wavelengths with moderate Reynolds numbers.

The Adomian decomposition method solves the nonlinear partial differential equations with related boundary conditions. Graphs and tables show flow features and biophysical factors like shear and normal stresses.

This study found that when curvature and a moderate Reynolds number are present, the non-Newtonian Sutterby fluid raises shear stress across all domains due to velocity decay, resulting in high shear stress. Additionally, modest mobility increases shear stress across all channel domains. The Sutterby parameter causes fluid motion resistance, which results in low energy generation and a decrease in the temperature distribution.

Equations of motion, energy equation, nanoparticle concentration, induced magnetic field and electric potential for Sutterby nano-fluids are obtained without any approximation i.e. the authors take small and long wavelengths and also moderate Reynolds numbers.

Flow induced by rotating disks is of great practical importance in several engineering applications such as rotating heat exchangers, turbine disks, pumps and many more. The present research has been freshly displayed regarding the implementation of an engine oil-based Casson tri-hybrid nanofluid across a rotating disk in mass and heat transferal developments. The purpose of this study is to contemplate the attributes of the flowing tri-hybrid nanofluid by incorporating porosity effects and magnetization and velocity slip effects, viscous dissipation, radiating flux, temperature slip, chemical reaction and activation energy.

The articulated fluid flow is described by a set of partial differential equations which are converted into one set of higher-order ordinary differential equations (ODEs) by using convenient conversions. The numerical solution of this transformed set of ODEs has been spearheaded by using the effectual bvp4c scheme.

The acquired results show that the heat transmission rate for the Casson tri-hybrid nanofluid is intensified by, respectively, 9.54% and 11.93% when compared to the Casson hybrid nanofluid and Casson nanofluid. Also, the mass transmission rate for the Casson tri-hybrid nanofluid is augmented by 1.09% and 2.14%, respectively, when compared to the Casson hybrid nanofluid and Casson nanofluid.

The current investigation presents an educative response on how the flow profiles vary with changes in the inevitable flow parameters. As per authors’ knowledge, no such scrutinization has been carried out previously; therefore, our results are novel and unique.

This paper introduces a new approach to theorising and learning from Black, Asian and Minority Ethnic (BAME) women’s experiences of inequality in academia. It offers a versatile model with which the structure of a particular racist-sexist inequality regime can be theorised from empirical evidence.

The paper presents composite, fictionalised accounts of intersectional discrimination which are then analysed through critical realist frameworks, employing critical race feminist theory insights. This novel “whisper network” method centres the knowledge of BAME women in academia, and is translatable to other marginalised actors, offering a more protective means by which to access their knowledge as a foundation for organisational change.

Through theorising the ontological arrangement of key causal mechanisms responsible for the reproduction of inequality regimes, the paper illuminates links between micro-level intersectional discrimination and meso-level institutional inequality.

In order to preserve anonymity and reduce potential backlash, the vignettes in this paper are not intended to precisely capture specific empirical realities, but instead reflect wider patterns from the author's own whisper network knowledge. Nonetheless, the analytical method developed here could be applied to rigorously collected empirical data, with clear implications for improving organisational practice.

The paper offers a structured and systematic process by which qualitative data on institutional inequality can be analysed and stakeholders engaged to develop and propose solutions, even by individuals new to the field.

A methodical basis for strategic action addressing the issues revealed through such an analysis can be developed in order to galvanise and steer organisational change.

The novelty of the paper is twofold: in its original synthesis of critical realist depth ontology and ontological insights from critical race feminist theory about social structures of oppression, and in the development of the innovative “whisper network” method based upon a critical race theory counter-storytelling epistemology, in conversation with the emergent stream of literature within feminist organisation studies regarding the importance of “writing differently”.