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The paper aims to present a dynamic model of flexible oscillating pectoral fin for further study on its propulsion mechanism.

The chordwise and spanwise motions of cow-nosed ray’s pectoral fin are first analyzed based on the mechanism of active/passive flexible deformation. The kinematic model of oscillating pectoral fin is established by introducing the flexible deformation. Then, the dynamic model of the oscillating pectoral fin is developed based on the quasi-steady blade element theory. A series of hydrodynamic experiments on the oscillating pectoral fin are carried out to investigate the influences of motion parameters on the propulsion performance of the oscillating pectoral fin.

The experimental results are consistent with that obtained through analytical calculation within a certain range, which indicates that the developed dynamic model in this paper is applicable to describe the dynamic characteristics of the oscillating pectoral fin approximately. The experimental results show that the average thrust of an oscillating pectoral fin increases with the increasing oscillating amplitude and frequency. However, the relationship between the average thrust and the oscillating frequency is nonlinear. Moreover, the experimental results show that there is an optimal phase difference at which the oscillating pectoral fin achieves the maximum average thrust.

The developed dynamic model provides the theoretical basis for further research on propulsion mechanism of oscillating pectoral fins. It can also be used in the design of the bionic pectoral fins.

The purpose of this paper is to present a scheduling model, scheduling algorithms, and formal model and analysis techniques for concurrency transaction in grid database environment.

Classical transaction models and scheduling algorithms developed for homogeneous distributed architecture will not work in the grid architecture and should be revisited for this new and evolving architecture. The conventional model is improved by three‐level transaction scheduling model and the scheduling algorithms for concurrency transaction is improved by considering transmission time of a transaction, user's priority, and the number of database sites accessed by the transaction as a priority of the transaction. Aiming at the problems of analysis and modeling of the transaction scheduling in grid database, colored dynamic time Petri nets (CDTPN) model are proposed. Then the reachability of the transaction scheduling model is analyzed.

The three‐level transaction scheduling model not only supports the autonomy of grid but also lightens the pressure of communication. Compared with classical transaction scheduling algorithms, the algorithms not only support the correctness of the data but also improve the effectiveness of the system. The CDTPN model is convenient for modeling and analyzing dynamic performance of grid transaction. Some important results such as abort‐ratio and turnover‐time are gotten by analyzing reachability of CDTPN.

The three‐level transaction scheduling model and improved scheduling algorithms with more complex priority are presented in the paper. The paper gives a CDTPN model for modeling transaction scheduling in grid database. In CDTPN model, the time interval of a transition is a function of tokens in input places of the transition.

Most of the conventional humanoid modeling approaches are not successful in coupling different branches of the tree-type humanoid robot. In this paper, a tree-type upper body humanoid robot with mobile base is modeled. The main purpose of this work is to model a non holonomic mobile platform and to develop a hybrid algorithm for avoiding dynamic obstacles. Decoupled Natural Orthogonal Complement methodology effectively combines different branches of the humanoid body during dynamic analysis. Collision avoidance also plays an important role along with modeling methods for successful operation of the upper body wheeled humanoid robot during real-time operations. The majority of path planning algorithms is facing problems in avoiding dynamic obstacles during real-time operations. Hence, a multi-fusion approach using a hybrid algorithm for avoiding dynamic obstacles in real time is introduced.

The kinematic and dynamic modeling of a humanoid robot with mobile platform is done using screw theory approach and Newton–Euler formulations, respectively. Dynamic obstacle avoidance using a novel hybrid algorithm is carried out and implemented in real time. D star lite and a geometric-based hybrid algorithms are combined to generate the optimized path for avoiding the dynamic obstacles. A weighting factor is added to the D star lite variant to optimize the basic version of D star lite algorithm. Lazy probabilistic road map (PRM) technique is used for creating nodes in configuration space. The dynamic obstacle avoidance is experimentally validated to achieve the optimum path.

The path obtained using the hybrid algorithm for avoiding dynamic obstacles is optimum. Path length, computational time, number of expanded nodes are analysed for determining the optimality of the path. The weighting function introduced along with the D star lite algorithm decreases computational time by decreasing the number of expanding nodes during path generation. Lazy evaluation technique followed in Lazy PRM algorithm reduces computational time for generating nodes and local paths.

Modeling of a tree-type humanoid robot along with the mobile platform is combinedly developed for the determination of the kinematic and dynamic equations. This paper also aims to develop a novel hybrid algorithm for avoiding collision with dynamic obstacles with minimal computational effort in real-time operations.

This paper deals with a defuzzification technique for dynamic models formulated with linguistic variables. The theorem of representation is applied in order to obtain a family of crisp models. This technique is particularly suitable for dynamic linear programming models, where the coefficients are fuzzy sets or fuzzy numbers.

According to the requirements of servicing and deorbiting the failure satellites, especially the tumbling ones on geosynchronous orbit, this paper aims to design a docking mechanism to capture these tumbling satellites in orbit, to analyze the dynamics of the docking system and to develop a new collision force-limited control method in various docking speeds.

The mechanism includes a cone-rod mechanism which captures the apogee engine with a full consideration of despinning and damping characteristics and a locking and releasing mechanism which rigidly connects the international standard interface ring (Marman rings, such as 937B, 1194 and 1194A mechanical interface). The docking mechanism was designed under-actuated, aimed to greatly reduce the difficulty of control and ensure the continuity, synchronization and force uniformity under the process of repeatedly capturing, despinning, locking and releasing the tumbling satellite. The dynamic model of docking mechanism was established, and the impact force was analyzed in the docking process. Furthermore, a collision detection and compliance control method is proposed by using the active force-limited Cartesian impedance control and passive damping mechanism design.

A variety of conditions were set for the docking kinematics and dynamics simulation. The simulation and low-speed docking experiment results showed that the force translation in the docking phase was stable, the mechanism design scheme was reasonable and feasible and the proposed force-limited Cartesian impedance control could detect the collision and keep the external force within the desired value.

The paper presents a universal docking mechanism and force-limited Cartesian impedance control approach to capture the tumbling non-cooperative satellite. The docking mechanism was designed under-actuated to greatly reduce the difficulty of control and ensure the continuity, synchronization and force uniformity. The dynamic model of docking mechanism was established. The impact force was controlled within desired value by using a combination of active force-limited control approach and passive damping mechanism.

The purpose of this paper is to propose an improved method which can shorten the calculation time and improve the calculation efficiency under the premise of ensuring the calculation accuracy for calculating the response of dynamic systems with periodic time-varying characteristics.

An improved method is proposed based on Runge–Kutta method according to the composition characteristics of the state space matrix and the external load vector formed by the reduction of the dynamic equation of the periodic time-varying system. The recursive scheme of the holistic matrix of the system using the Runge–Kutta method is improved to be the sub-block matrix that is divided into the upper and lower parts to reduce the calculation steps and the occupied computer memory.

The calculation time consumption is reduced to a certain extent about 10–35% by changing the synthesis method of the time-varying matrix of the dynamics system, and the method proposed of paper consumes 43–75% less calculation time in total than the original Runge–Kutta method without affecting the calculation accuracy. When the ode45 command that implements the Runge–Kutta method in the MATLAB software used to solve the system dynamics equation include the time variable which cannot provide its specific analytic function form, so the time variable value corresponding to the solution time needs to be determined by the interpolation method, which causes the calculation efficiency of the ode45 command to be substantially reduced.

The proposed method can be applied to solve dynamic systems with periodic time-varying characteristics, and can consume less calculation time than the original Runge–Kutta method without affecting the calculation accuracy, especially the superiority of the improved method of this paper can be better demonstrated when the degree of freedom of the periodic time-varying dynamics system is greater.

The purpose of this paper is to present competing risks models and show how dwell times can be applied to predict users’ online behavior. This information enables real-time personalization of web content.

This paper models transitions between pages based upon the dwell time of the initial state and then analyzes data from a web shop, illustrating how pages that are linked “compete” against each other. Relative risks for web page transitions are estimated based on the dwell time within a clickstream and survival analysis is used to predict clickstreams.

Using survival analysis and user dwell times allows for a detailed examination of transition behavior over time for different subgroups of internet users. Differences between buyers and non-buyers are shown.

As opposed to other academic fields, survival analysis has only infrequently been used in internet-related research. This paper illustrates how a novel application of this method yields interesting insights into internet users’ online behavior.

A key goal of any online retailer is to increase their customer conversation rates. Using survival analysis, this paper shows how dwell-time information, which can be easily extracted from any server log file, can be used to predict user behavior in real time. Companies can apply this information to design websites that dynamically adjust to assumed user behavior.

The method shows novel clickstream analysis not previously demonstrated. Importantly, this can support the move from web analytics and “big data” from hype to reality.

The purpose of this paper is to analyze the unbalanced magnetic pull (UMP) of the rotor of traction motor and the influence of the UMP on thermal characteristics of traction motor bearing.

The unbalanced magnetic pull on the rotor with different eccentricity was calculated by Fourier series expansion method. A bearing thermal analysis finite element model considering both the vibration of high-speed train caused by track irregularity and the UMP of traction motor rotor was established. The validity of the model is verified by experimental data obtained from a service high-speed train.

The results show that thermal failure of bearing subassemblies most likely occurs at contact area between the inner ring and rollers. The UMP of rotor of traction motor has a significant effect on the temperature of the inner ring and roller of the bearing. When the eccentricity is 10%, the temperature can even be increased by about 12°C. Therefore, the UMP of rotor of traction motor must be considered in thermal analysis of traction motor bearing.

In the thermal analysis of the bearing of the traction motor of high-speed train, the UMP of the rotor of the traction motor is considered for the first time

The vast majority of literature relating to operations management originates from studies in developed markets. Emerging markets are increasingly important in global business. With this in mind, the purpose of this paper is to analyze differences in outsourcing strategies between manufacturing firms from emerging markets and from developed markets.

The paper is based on statistical analyses of a large data set of manufacturing firms obtained from the International Manufacturing Strategy Survey (IMSS).

The findings suggest that companies that outsource internationally focus on achieving cost benefits, while companies that outsource domestically focus on achieving capacity flexibility. In addition, the reasons to outsource were found to be independent of the location of firms in both emerging and developed markets. However, within the group of firms from emerging markets, strategies seem to differ according to whether firms are domestically owned or are subsidiaries of companies from developed markets.

The decisions of firms to outsource do not differ much whether the firms are located in developed‐ or in emerging‐market economies. Firms outsource domestically when they want to increase their capacity flexibility; they outsource internationally when looking for cost advantages.

The value of the paper is that it illuminates an important contemporary phenomenon based on analyses on data from a large‐scale international survey encompassing firms both in developed and in emerging markets.