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Component positioning is an important part of aircraft assembly, aiming at the problem that it is difficult to accurately fall into the corresponding ball socket for the ball head connected with aircraft component. This study aims to propose a ball head adaptive positioning method based on impedance control.

First, a target impedance model for ball head positioning is constructed, and a reference positioning trajectory is generated online based on the contact force between the ball head and the ball socket. Second, the target impedance parameters were optimized based on the artificial fish swarm algorithm. Third, to improve the robustness of the impedance controller in unknown environments, a controller is designed based on model reference adaptive control (MRAC) theory and an adaptive impedance control model is built in the Simulink environment. Finally, a series of ball head positioning experiments are carried out.

During the positioning of the ball head, the contact force between the ball head and the ball socket is maintained at a low level. After the positioning, the horizontal contact force between the ball head and the socket is less than 2 N. When the position of the contact environment has the same change during ball head positioning, the contact force between the ball head and the ball socket under standard impedance control will increase to 44 N, while the contact force of the ball head and the ball socket under adaptive impedance control will only increase to 19 N.

In this paper, impedance control is used to decouple the force-position relationship of the ball head during positioning, which makes the entire process of ball head positioning complete under low stress conditions. At the same time, by constructing an adaptive impedance controller based on MRAC, the robustness of the positioning system under changes in the contact environment position is greatly improved.

The purpose of this paper is to present the influence of inter-turn short circuit faults (ITSF) on electromagnetic vibration in high-voltage line-starting permanent magnet synchronous motor (HVLSPMSMS).

In this paper, the ampere–conductor wave model of HVLSPMSM after ITSF is established. Second, a mathematical model of the magnetic field after ITSF is established, and the influence law of the ITSF on the air-gap magnetic field is analyzed. Further, the mathematical expression of the electromagnetic force density is established based on the Maxwell tensor method. The impact of HVLSPMSM torque ripple frequency, radial electromagnetic force spatial–temporal distribution and rotor unbalanced magnetic tension force by ITSF is revealed. Finally, the electromagnetic–mechanical coupling model of HVLSPMSM is established, and the vibration spectra of the motor with different degrees of ITSF are solved by numerical calculation.

In this study, it is found that the 2np order flux density harmonics and (2 N + 1) p order electromagnetic forces are not generated when ITSF occurs in HVLSPMSM.

By analyzing the multi-harmonics of HVLSPMSM after ITSF, this paper provides a reliable method for troubleshooting from the perspective of vibration and torque fluctuation and rotor unbalanced electromagnetic force.

The purpose of this paper aims to investigate the adaptive impedance control and its optimized PSO algorithm for force tracking of a dual-arm cooperative robot. Because the dual-arm robot is directly in contact with external environment, controlling the mutual force between robot and external environment is of great importance. Besides, a high compliance of the robot should be guaranteed.

An impedance control based on Particle Swarm Optimization (PSO) algorithm is designed to track the mutual force and achieve compliance control of the robot end.

The experimental results show that the impedance control coefficients can be automatically tuned converged by PSO algorithm.

The system can reach a steady state within 0.03 s with overshoot convergence, and the force fluctuation range at the steady state decreases to about ±0.08 N even under the force mutation condition.

The purpose of this study is to reveal the friction reduction performance and mechanism of granular flow lubrication during the milling of difficult-to-machining materials and provide a high-performance lubrication method for the precision cutting of nickel-based alloys.

The milling tests for Inconel 718 superalloy under dry cutting, flood lubrication and granular flow lubrication were carried out, and the milling force and machined surface quality were used to evaluate their friction reduction effect. Furthermore, based on the energy dispersive spectrometer (EDS) spectrums and the topographical features of machined surface, the lubrication mechanism of different granular mediums was explored during granular flow lubrication.

Compared with flood lubrication, the granular flow lubrication had a significant force reduction effect, and the maximum milling force was reduced by about 30%. At the same time, the granular flow lubrication was more conducive to reducing the tool trace size, repressing surface damage and thus achieving better surface quality. The soft particles had better friction reduction performance than the hard particles with the same particle size, and the friction reduction performance of nanoscale hard particles was superior to that of microscale hard particles. The friction reduction mechanism of MoS₂ and WS₂ soft particles is the mending effect and adsorption film effect, whereas that of SiO₂ and Al₂O₃ hard particles is mainly manifested as the rolling and polishing effect.

Granular flow lubrication was applied in the precision milling of Inconel 718 superalloy, and a comparative study was conducted on the friction reduction performance of soft particles (MoS₂, WS₂) and hard particles (SiO₂, Al₂O₃). Based on the EDS spectrums and topographical features of machined surface, the friction reduction mechanism of soft and hard particles was explored.

Teleworking, working from home and flexible work have gained popularity over the last few years. A shift in policies and practices in the workplace is required owing to the COVID-19 pandemic accelerating current trends in work-from-everywhere (WFE) research. This article presents a systematic literature review of WFE research from 1990 to early 2023 to understand the transformation of the field.

The Web of Science database was used to conduct this review based on rigorous bibliometric and network analysis techniques. The prominence of the research studied using SPAR-4-SLR and a collection of bibliometric techniques on selected journal articles, reviews and early access articles. Performance and keyword co-occurrence analysis form the premise of cluster analysis. The content analysis of recently published papers revealed the driving and restraining forces that help define and operationalize the concept of WFE.

The major findings indicate that the five established and accelerated trends from cluster analysis are COVID-19 and the pandemic, telework(ing), remote working, work from home and well-being and productivity. Driving and restraining forces identified through content analysis include technological breakthroughs, work–life integration challenges, inequality in the distribution of jobs, gender, shifts in industry and sector preferences, upskilling and reskilling and many more have been published post-COVID in the restraining forces category of WFE.

A key contribution of this pioneering study of “work from everywhere” is the linking of the bibliometric trends of the past three decades to the influencing and restraining factors during the pandemic. This study illustrates how WFE could be perceived differently post-COVID, which is of great concern to practitioners and future researchers.

A wide range of publications on WFE and multiple synonyms can create confusion if a systematic and effective system does not classify and associate them. This study uses both bibliometric and scientometric analyses in the context of WFE using systematic literature review (SLR) methods.

The purpose of this paper is to develop a coupled lattice Boltzmann model for the simulation of the freezing process in unsaturated porous media.

In the developed model, the porous structure with complexity and disorder was generated by using a stochastic growth method, and then the Shan-Chen multiphase model and enthalpy-based phase change model were coupled by introducing a freezing interface force to describe the variation of phase interface. The pore size of porous media in freezing process was considered as an influential factor to phase transition temperature, and the variation of the interfacial force formed with phase change on the interface was described.

The larger porosity (0.2 and 0.8) will enlarge the unfrozen area from 42 mm to 70 mm, and the rest space of porous medium was occupied by the solid particles. The larger specific surface area (0.168 and 0.315) has a more fluctuated volume fraction distribution.

The concept of interfacial force was first introduced in the solid–liquid phase transition to describe the freezing process of frozen soil, enabling the formulation of a distribution equation based on enthalpy to depict the changes in the water film. The increased interfacial force serves to diminish ice formation and effectively absorb air during the freezing process. A greater surface area enhances the ability to counteract liquid migration.

This paper focuses on the application of a robotic technique for modeling a three-wheeled mobile robot (WMR), considering it as a multibody polyarticulated system. Then the dynamic behavior of the developed model is verified using a physical model obtained by Simscape Multibody.

Firstly, a geometric model is developed using the modified Denavit–Hartenberg method. Then the dynamic model is derived using the algorithm of Newton–Euler. The developed model is performed for a three-wheeled differentially driven robot, which incorporates the slippage of wheels by including the Kiencke tire model to take into account the interaction of wheels with the ground. For the physical model, the mobile robot is designed using Solidworks. Then it is exported to Matlab using Simscape Multibody. The control of the WMR for both models is realized using Matlab/Simulink and aims to ensure efficient tracking of the desired trajectory.

Simulation results show a good similarity between the two models and verify both longitudinal and lateral behaviors of the WMR. This demonstrates the effectiveness of the developed model using the robotic approach and proves that it is sufficiently precise for the design of control schemes.

The motivation to adopt this robotic approach compared to conventional methods is the fact that it makes it possible to obtain models with a reduced number of operations. Furthermore, it allows the facility of implementation by numerical or symbolical programming. This work serves as a reference link for extending this methodology to other types of mobile robots.

The purpose of this paper is to introduce a novel cross (+) type yoke with hybrid electromagnets and new reluctance modeling to precisely calculate attraction force is given.

The comparison of attraction force and torque analyses between the proposed formulation and the existing formulation in the literature is comparatively presented. For the correctness of the force and torque values calculated in the model created, the system was created in ANSYS Maxwell and its accuracy was proved by making analyses. The maglev carrier system is inherently unstable from the point of view of control engineering. For that, it needs an active controller to eliminate this instability. For the levitation of the carrier system, it is necessary to design a controller in three axes (z, α and β). I-PD controller was designed for the air gap control of the carrier system in three axes and the controller parameters were determined by the canonical method.

While the new formulation proposed in the modeling of the carrier system has a maximum error of 1.03%, the existing formula in the literature has an error of 16.83% in the levitation distance point.

A novel cross-type hybrid carrier system has been proposed in the literature. With the double integral used in modeling the system, it takes a long time to solve symbolically, and it is difficult to simulate dynamic behavior in control validation. To solve this problem, attraction force and inclination torque values are easily characterized by new formulation and besides the simulations are conducted easily. The experimental setup was manufactured and assembled, and the carrier system was successfully levitated, and reference tracking was performed without overshoot.

This work analyzes female immigrants’ integration in the dimensions of education, labor market participation and fertility in 15 European countries, considering individual characteristics, including cultural background, host countries’ attitudes towards immigrants, the role of women in the family and country-specific integration policy. All these aspects taken together are crucial to understand the main patterns of integration focusing on gender differences.

We focus on second- and first-generation male and female immigrants between the age of 25 and 41, with a length of stay of at least ten years. Enrollment ratios for tertiary education in parents’ countries, the total fertility rate and the female labor force in the mother’s country represent ethnic background. Diversity in the destination regions is captured by local attitudes towards immigrants, the perceived role of women and national policies to integrate migrants [Migrant Integration Policy Index (MIPEX)]. The data are drawn from the European Social Survey (ESS) for 2010–2018. Our results are based on ordinary least squares (OLS) and logit estimates; multilevel analysis was conducted.

We find significant evidence of gender role transmission from mother to daughter; age at immigration seems to be crucial to examine the importance of the culture of origin among immigrants. However, females are responsive to attitudes toward immigrants and gender equality in receiving societies, while integration policies, by defining the set of opportunities, may contribute to both genders’ tertiary education and women’s probability of being in the labor force.

This work underlines that integration policies favoring equal rights as nationals may contribute to both women’s tertiary education and their probability of being in the labor force.

We explore female integration in Europe in the dimensions of education, labor market, fertility and the role of both immigrants’ cultural heritage and specific aspects of destination countries. Previous research, particularly in the USA, has generally focused on some of these features at the expense of a more comprehensive approach. This study builds upon the existing literature and contributes to it by taking a multifaceted approach to female integration in Western Europe, which presents not only an institutional context different from the USA but also some heterogeneity with respect to integration policies and socioeconomic factors.

This paper aims to introduce an alternative for modeling levitation forces between NdFeB magnets and bulks of high-temperature superconductors (HTS). The presented approach should be evaluated through two different formulations and compared with experimental results.

The T-A and H-ϕ formulations are among the most efficient approaches for modeling superconducting materials. COMSOL Multiphysics was used to apply them to magnetic levitation models and predict the forces involved.The permanent magnet movement is modeled by combining moving meshes and magnetic field identity pairs in both 2D and 3D studies.

It is shown that it is possible to use the homogenization technique for the T-A formulation in 3D models combined with mixed formulation boundaries and moving meshes to simulate the whole device’s geometry.

The case studies are limited to the formulations’ implementation and a brief assessment regarding degrees of freedom. The intent is to make the simulation straightforward rather than establish a benchmark.

The H-ϕ formulation considers the HTS bulk domain as isotropic, whereas the T-A formulation homogenization approach treats it as anisotropic. The originality of the paper lies in contrasting these different modeling approaches while incorporating the external magnetic field movement by means of the Lagrangian–Eulerian method.