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This paper aims to propose a novel system design and control algorithm of lower limb exoskeleton, which provides walking assistance and load sharing for the wearer.

In this paper, the valve-controlled asymmetrical hydraulic cylinder is selected for driving the hip and knee joint of exoskeleton. Pressure shoe is developed that purpose on detecting changes in plantar force, and a fuzzy recognition algorithm using plantar pressure is proposed. Dynamic model of the exoskeleton is established, and the sliding mode control is developed to implement the position tracking of exoskeleton. A series of prototype experiments including benchtop test, full assistance, partial assistance and loaded walking experiments are set up to verify the tracking performance and power-assisted effect of the proposed exoskeleton.

The control performance of PID control and sliding mode control are compared. The experimental data shows the tracking trajectories and tracking errors of sliding mode control and demonstrate its good robustness to nonlinearities. sEMG of the gastrocnemius muscle tends to be significantly weakened during assisted walking.

In this paper, a structure that the knee joint and hip joint driven by the valve-controlled asymmetrical cylinder is used to provide walking assistance for the wearer. The sliding mode control is proposed to deal with the nonlinearities during joint rotation and fluids. It shows great robustness and frequency adaptability through experiments under different motion frequencies and assistance modes. The design and control method of exoskeleton is a good attempt, which takes positive impacts on the productivity or quality of the life of wearers.

In order to evaluate the rheological properties of asphalt more comprehensively and effectively, and to explore and discuss the practicability of relevant models in the evaluation of the rheological properties of asphalt.

Based on the rheological and viscoelastic theories, temperature scanning, frequency scanning and multiple stress creep recovery (MSCR) tests of different modified asphalt were carried out by dynamic shear rheometer (DSR) to obtain relevant viscoelastic parameters and evaluate the high temperature properties of different modified asphalt. Based on the time-temperature equivalence principle, the main curve was constructed to study the viscoelastic properties of asphalt in a wider frequency domain. The main curve was fitted with the CAM model, and the rheological properties of different modified asphalt were evaluated through the analysis of model parameters. The creep stiffness and creep velocity of different modified asphalt were obtained through the rheological test of bending beam (BBR), and the low-temperature performance of different modified asphalt was analyzed by using Burgers model to fit the creep compliance.

The results show that the high temperature rheological properties of several modified asphalt studied in the test are ranked from best to worst as follows: PE modified asphalt > SBS modified asphalt > SBR modified asphalt. Short-term aging can improve the high temperature performance of asphalt, and different types of modifiers can promote or inhibit this improvement effect. Based on BBR test and Burgers model fitting analysis, SBR modified asphalt has the best low temperature performance, followed by SBS modified asphalt, while PE modified asphalt has poor low temperature performance, so it is not suitable to be used as road material in low temperature area.

Combined with effective evaluation methods, the rheological properties of asphalt at different temperatures and angles were systematically evaluated, and the evolution of rheological properties of asphalt characterized by model parameters was further analyzed by advanced model simulation.

To contribute to achieving the Sustainable Development Goals, this study aims to explore how to encourage innovative green behaviors among college students and the mechanisms behind the formation of green innovation behavior. Specifically, this study examines the influences of schools, mentors and college students themselves.

A multilevel, multisource study involving 261 students from 51 groups generally supported this study’s predictions.

Proenvironmental and responsible mentors significantly predicted innovative green behavior among college students. In addition, creative motivation mediated the logical chain among green intellectual capital, emotional intelligence and green innovation behavior.

The study findings offer new insights into the conditions required for college students to engage in green innovation. In addition, they provide practical implications for cultivating green innovation among college students.

The authors proposed and tested a multilevel theory based on the ability–motivation–opportunity framework. In this model, proenvironmental and responsible mentors, green intellectual capital and emotional intelligence triggered innovative green behavior among college students through creative motivation.

This paper aims to analyze the research highlights, evolutionary process and future research directions in the field of tourism forecasting.

This study used CiteSpace to conduct a bibliometric analysis of 1,213 tourism forecasting articles.

The results show that tourism forecasting research has experienced three stages. The institutional collaboration includes transnational collaboration and domestic institutional collaboration. Collaboration between countries still needs to be strengthened. The authors’ collaboration is mainly based on on-campus collaboration. Articles with high co-citation are primarily published in core tourism journals and other relevant publications. The research content mainly pertains to tourism demand, revenue management, hotel demand and tourist volumes. Ex ante forecasting during the COVID-19 pandemic has broadened existing tourism forecasting research. The future forecasting research focuses on the rational use of big data, improving the accuracy of models and enhancing the credibility of forecasting results.

This paper uses CiteSpace to analyze tourism forecasting articles to obtain future research trends, which supplements existing research and provides directions for future research.

本文旨在分析旅游预测领域的研究重点、演化过程和未来的研究方向。

本研究使用 CiteSpace 软件对 1213 篇旅游预测文章进行了文 献计量学分析。

结果表明, 旅游预测研究经历三个阶段。机构合作包含国际机构合作和 国内机构合作, 需要持续加强国家之间的合作, 作者之间的合作多以校内合作为 主。高引用文章不仅发表在旅游领域的核心期刊还发表在其他专业的核心期刊上。 旅游预测研究的主要内容为旅游需求、收入管理、酒店需求和游客量。新冠疫情 期间的事前预测拓宽了现有的旅游预测研究。未来预测的研究重点在于合理利用 大数据, 提高模型的准确定以及提高预测结果的可信度。

本文使用 CiteSpace 分析旅游预测文章得到未来研究趋势, 既是对 现有研究的补充, 又为今后的研究提供方向。

Este artículo pretende analizar los aspectos más destacados de la investigación, el proceso evolutivo y las futuras orientaciones de la investigación en el campo de la previsión turística.

Este estudio utilizó CiteSpace para realizar un análisis bibliométrico de 1213 artículos sobre previsión turística.

Los resultados muestran que la investigación sobre previsión turística ha experimentado tres etapas. La colaboración institucional incluye la colaboración transnacional y la colaboración institucional nacional. La colaboración entre países aún debe reforzarse. La colaboración entre autores se basa principalmente en la colaboración dentro del campus. Los artículos con una alta cocitación se publican principalmente en las principales revistas de turismo y en otras publicaciones relevantes. El contenido de la investigación se refiere principalmente a la demanda turística, el revenue management, la demanda hotelera y los volúmenes turísticos. La previsión previa y durante la pandemia de la COVID-19 ha ampliado la investigación existente sobre previsión turística. La futura investigación sobre previsiones se centra en el uso racional de los big data, la mejora de la precisión de los modelos y el aumento de la credibilidad de los resultados de las previsiones.

Este artículo utiliza CiteSpace para analizar artículos de previsión turística con el fin de obtener futuras tendencias de investigación, lo que complementa la investigación existente y proporciona orientaciones para futuras investigaciones.

This paper aims to enhance the machining accuracy of hybrid robots by treating the moving platform as the first joint of a serial robot for direct position measurement and integrating external grating sensors with motor encoders for real-time error compensation.

Initially, a spherical coordinate system is established using one linear and two circular grating sensors. This system enables direct acquisition of the moving platform’s position in the hybrid robot. Subsequently, during the coarse interpolation stage, the motor command for the next interpolation point is dynamically updated using error data from external grating sensors and motor encoders. Finally, fuzzy proportional integral derivative (PID) control is applied to maintain robot stability post-compensation.

Experiments were conducted on the TriMule-600 hybrid robot. The results indicate that the following errors of the five grating sensors are reduced by 94%, 93%, 80%, 75% and 88% respectively, after compensation. Using the fourth drive joint as an example, it was verified that fuzzy adaptive PID control performs better than traditional PID control.

The proposed online error compensation strategy significantly enhances the positional accuracy of the robot end, thereby improving the actual processing quality of the workpiece.

This method presents a technique for achieving online error compensation in hybrid robots, which promotes the advancement of the manufacturing industry.

This paper proposes a cost-effective and practical method for online error compensation in hybrid robots using grating sensors, which contributes to the advancement of hybrid robot technology.

This paper aims to present a new trajectory scheduling method to generate a smooth and continuous trajectory for a hybrid machining robot.

The trajectory scheduling method includes two steps. First, a G3 continuity local smoothing approach is proposed to smooth the toolpath. Then, considering the tool/joint motion and geometric error constraints, a jerk-continuous feedrate scheduling method is proposed to generate the trajectory.

The simulations and experiments are conducted on the hybrid robot TriMule-800. The simulation results demonstrate that this method is effectively applicable to machining trajectory scheduling for various parts and is computationally friendly. Moreover, it improves the robot machining speed and ensures smooth operation under constraints. The results of the S-shaped part machining experiment show that the resulting surface profile error is below 0.12 mm specified in the ISO standard, confirming that the proposed method can ensure the machining accuracy of the hybrid robot.

This paper implements an analytical local toolpath smoothing approach to address the non-high-order continuity problem of the toolpath expressed in G code. Meanwhile, the feedrate scheduling method addresses the segmented paths after local smoothing, achieving smooth and continuous trajectory generation to balance machining accuracy and machining efficiency.

This study aims to investigate the micro mechanism of macro rheological characteristics for composite modified asphalt.Grey relational analysis (GRA) was used to analyze the correlation between macro rheological indexes and micro infrared spectroscopy indexes.

First, a dynamic shear rheometer and a bending beam rheometer were used to obtain the evaluation indexes of high- and low-temperature rheological characteristics for asphalt (virgin, SBS/styrene butadiene rubber [SBR], SBS/rubber and SBR/rubber) respectively, and its variation rules were analyzed. Subsequently, the infrared spectroscopy test was used to obtain the micro rheological characteristics of asphalt, which were qualitatively and quantitatively analyzed, and its variation rules were analyzed. Finally, with the help of GRA, the macro-micro evaluation indexes were correlated, and the improvement efficiency of composite modifiers on asphalt was explored from rheological characteristics.

It was found that the deformation resistance and aging resistance of SBS/rubber composite modified asphalt are relatively good, and the modification effect of composite modifier and virgin asphalt is realized through physical combination, and the rheological characteristics change with the accumulation of functional groups. The correlation between macro rutting factor and micro functional group index is high, and the relationship between macro Burgers model parameters and micro functional group index is also close.

Results reveal the basic principle of inherent-improved synergistic effect for composite modifiers on asphalt and provide a theoretical basis for improving the composite modified asphalt.

The growing availability of naturalistic driving datasets (NDDs) presents a valuable opportunity to develop various models for autonomous driving. However, while current NDDs include data on vehicles with and without intended driving behavior changes, they do not explicitly demonstrate a type of data on vehicles that intend to change their driving behavior but do not execute the behaviors because of safety, efficiency, or other factors. This missing data is essential for autonomous driving decisions. This study aims to extract the driving data with implicit intentions to support the development of decision-making models.

According to Bayesian inference, drivers who have the same intended changes likely share similar influencing factors and states. Building on this principle, this study proposes an approach to extract data on vehicles that intended to execute specific behaviors but failed to do so. This is achieved by computing driving similarities between the candidate vehicles and benchmark vehicles with incorporation of the standard similarity metrics, which takes into account information on the surrounding vehicles' location topology and individual vehicle motion states. By doing so, the method enables a more comprehensive analysis of driving behavior and intention.

The proposed method is verified on the Next Generation SIMulation dataset (NGSim), which confirms its ability to reveal similarities between vehicles executing similar behaviors during the decision-making process in nature. The approach is also validated using simulated data, achieving an accuracy of 96.3 per cent in recognizing vehicles with specific driving behavior intentions that are not executed.

This study provides an innovative approach to extract driving data with implicit intentions and offers strong support to develop data-driven decision-making models for autonomous driving. With the support of this approach, the development of autonomous vehicles can capture more real driving experience from human drivers moving towards a safer and more efficient future.

This paper aims to propose a dynamic parameter identification method based on sensitivity analysis for the 5-degree of freedom (DOF) hybrid robots, to solve the problems of too many identification parameters, complex model, difficult convergence of optimization algorithms and easy-to-fall into a locally optimal solution, and improve the efficiency and accuracy of dynamic parameter identification.

First, the dynamic parameter identification model of the 5-DOF hybrid robot was established based on the principle of virtual work. Then, the sensitivity of the parameters to be identified is analyzed by Sobol’s sensitivity method and verified by simulation. Finally, an identification strategy based on sensitivity analysis was designed, experiments were carried out on the real robot and the results were verified.

Compared with the traditional full-parameter identification method, the dynamic parameter identification method based on sensitivity analysis proposed in this paper converges faster when optimized using the genetic algorithm, and the identified dynamic model has higher prediction accuracy for joint drive forces and torques than the full-parameter identification models.

This work analyzes the sensitivity of the parameters to be identified in the dynamic parameter identification model for the first time. Then a parameter identification method is proposed based on the results of the sensitivity analysis, which can effectively reduce the parameters to be identified, simplify the identification model, accelerate the convergence of the optimization algorithm and improve the prediction accuracy of the identified model for the joint driving forces and torques.

This study aims to examine how fairness concerns and power structure in dyadic green supply chains impact retail price, supply chain profits and greening level decisions.

This study develops game-theoretic models considering fairness concerns and asymmetric power structures under an iso-elastic demand setting. The research paper employs the Stackelberg game approach, taking into consideration the fairness concern of the channel leader.

The findings indicate that under fairness, there is an increase in both wholesale and retail prices, as well as greening expenditures. Notably, when comparing the two models (manufacturer Stackelberg and retailer Stackelberg), double marginalization is more pronounced in the retailer Stackelberg setup than in the manufacturer Stackelberg setup. In a traditional supply chain with iso-elastic demand, the follower typically extracts higher profit compared to the leader; however, our results show that, under fairness conditions, the leader achieves higher profit than the follower. Additionally, our study suggests that supply chain coordination is unattainable in a fairness setup. This paper provides insights for managers on the optimal supply chain structure and the level of fairness to maximize profit.

This paper investigates the impact of a leader's fairness on the optimal decisions within a green supply chain, an area that has received limited attention previously. Additionally, the study investigates how fairness concerns manifest in distinct power dynamics, specifically, in the contexts of manufacturer Stackelberg and retailer Stackelberg.