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An optimal solution method based on 2-norm is proposed in this study to solve the inverse kinematics multiple-solution problem caused by a high redundancy. The current research also presents a motion optimization based on the 2-Norm of high-redundant mobile humanoid robots, in which a kinematic model is designed through the entire modeling.

The current study designs a highly redundant humanoid mobile robot with a differential mobile platform. The high-redundancy mobile humanoid robot consists of three modular parts (differential driving platform with two degrees of freedom (DOF), namely, left and right arms with seven DOF, respectively) and has total of 14 DOFs. Given the high redundancy of humanoid mobile robot, a kinematic model is designed through the entire modeling and an optimal solution extraction method based on 2-norm is proposed to solve the inverse kinematics multiple solutions problem. That is, the 2-norm of the angle difference before and after rotation is used as the shortest stroke index to select the optimal solution. The optimal solution of the inverse kinematics equation in the step is obtained by solving the minimum value of the objective function of a step. Through the step-by-step cycle in the entire tracking process, the kinematic optimization of the highly redundant humanoid robot in the entire tracking process is realized.

Compared with the before and after motion optimizations based on the 2-norm algorithm of the robot, its motion after optimization shows minimal fluctuation, improved smoothness, limited energy consumption and short path during the entire mobile tracking and operating process.

In this paper, the whole kinematics model of the highly redundant humanoid mobile robot is established and its motion is optimized based on 2-norm, which provides a theoretical basis for the follow-up research of the service robot.

In this paper, the whole kinematics model of the highly redundant humanoid mobile robot is established and its motion is optimized based on 2-norm, which provides a theoretical basis for the follow-up research of the service robot.

In this paper, the whole kinematics model of the highly redundant humanoid mobile robot is established and its motion is optimized based on 2-norm, which provides a theoretical basis for the follow-up research of the service robot.

Motion optimization based on the 2-norm of a highly redundant humanoid mobile robot with the entire modeling is performed on the basis of the entire modeling. This motion optimization can make the highly redundant humanoid mobile robot’s motion path considerably short, minimize energy loss and shorten time. These researches provide a theoretical basis for the follow-up research of the service robot, including tracking and operating target, etc. Finally, the motion optimization algorithm is verified by the tracking and operating behaviors of the robot and an example.

Post-disaster population resettlement is a complicated process, during which the restoration of livelihood and lifestyle plays a critical role in achieving a successful resettlement outcome. This paper attempts to examine how recovery policies and relocation approaches influence people's livelihood recovery and perception of wellbeing. It specifically investigates the role of farmland in producing a livelihood and maintaining a rural lifestyle among displaced people.

Through face-to-face questionnaire surveys and in-depth interviews with rural residents displaced from their villages after the Wenchuan earthquake in Sichuan, China, this study presents both quantitative and qualitative evidence to investigate how post-disaster policies and particularly the availability of farmland influence people's recovery and their satisfaction with the post-resettlement life.

Data suggest that availability of farmland, in spite of the size, makes big differences in post-disaster recovery because farmland provides resettled people with not only a livelihood to secure basic living but also a guarantee to maintain a rural lifestyle.

More samples are needed for analyzing factors that significantly influence disaster-displaced farmers' recovery and wellbeing post resettlement.

This study can be used as an important reference for making plans for post-disaster recovery and population resettlement programs in other disaster-prone countries across the world.

Land-based relocation is proposed as a desirable approach to addressing challenges of livelihood restoration amongst the resettled population in rural areas of developing countries.

Ant colony algorithm is widely used in recent years as a heuristic algorithm. It provides a new way to solve complicated combinatorial optimization problems. Having been enlightened by the behavior of ant colony's searching for food, positive feedback construction and distributed computing combined with certain heuristics are adopted in the algorithm, which makes it easier to find better solution. This paper introduces a series of ant colony algorithm and its improved algorithm of the basic principle, and discusses the ant colony algorithm application situation. Finally, several problems existing in the research and the development prospect of ACO are reviewed.

The purpose is to predict the distribution of the residual pretightening force of the bolt group under the action of any initial pretightening force, and to achieve the final residual pretightening force as the target to solve the initial pretightening force value to be applied.

Based on the finite element method and the elastic interaction theory between bolt group, this paper establishes a prediction model for the residual pretightening force distribution of bolt group for one-step pretightening and multi-step pretightening of gasketless flange connection systems. In addition, using the general modeling method given in this paper, the prediction model of residual pretightening force of long plate bolt connection system is established, and compared with reference, which fully proves the effectiveness and universality of the general prediction model of residual pretightening force of bolt group.

The appropriate pretightening sequence, increasing the number of pretightening steps and variable amplitude loading can effectively reduce the influence of elastic interaction and improve the uniformity of residual pretightening force of the bolt group. And the selection of material, number of bolts and connected thickness of bolt connection system also has a great influence on the distribution of residual pretightening force of bolt groups.

The general prediction model for the residual pretightening force of bolt group of connecting structural components considering elastic interaction given in this paper can provide a reference for the design and optimization of the bolt assembly process of the rotor system and the casing system in aero-engine and the prediction of the performance of the connecting system.

This paper explores the mechanism of organizational Pao culture in an Oriental cultural context and its impact on CSR implementation and outcomes.

Three short cases are presented to reveal how the traditional Chinese Pao culture influences CSR implementation and outcomes in Chinese firms.

The findings suggest that the traditional Chinese Pao culture is the driver behind the value orientation of the norms of passing on favors and doing good deeds will be rewarded. Knowing this can help leaders in such organizations to incentivize member participation in building organizational Pao culture.

Through the collaborative construction of the core of Pao culture and external evaluation standards of corporate social responsibility, enterprises can thus achieve the dual goals of self-development and social benefits.

Enterprises and managers can be encouraged to draw management wisdom from the essence of cultural norms, so as to achieve the goal of realizing the interests of all CSR participants.

This paper emphasizes the dynamics and outcomes of CSR implementation in the context of the traditional Chinese Pao culture and expands the boundary of CSR research beyond a Western cultural setting.

Hybrid simulation, which is a general technique for obtaining the seismic response of an entire structure, is an improvement of the traditional seismic test technique. In order to improve the analysis accuracy of the numerical substructure in hybrid simulation, the purpose of this paper is to propose an innovative hybrid simulation technique. The technique combines the multi-scale finite element (MFE) analysis method and hybrid simulation method with the objective of achieving the balance between the accuracy and efficiency for the numerical substructure simulation.

To achieve this goal, a hybrid simulation system is established based on the MTS servo control system to develop a hybrid analysis model using an MFE model. Moreover, in order to verify the efficiency of the technique, the hybrid simulation of a three-storey benchmark structure is conducted. In this simulation, a ductile column—represented by a half-scale scale specimen—is selected as the experimental element, meanwhile the rest of the frame is modelled as microscopic and macroscopic elements in the Abaqus software simultaneously. Finally, to demonstrate the stability and accuracy of the proposed technique, the seismic response of the target structure obtained via hybrid simulation using the MFE model is compared with that of the numerical simulation.

First, the use of the hybrid simulation with the MFE model yields results similar to those obtained by the fine finite element (FE) model using solid elements without adding excessive computing burden, thus advancing the application of the hybrid simulation in large complex structures. Moreover, the proposed hybrid simulation is found to be more versatile in structural seismic analysis than other techniques. Second, the hybrid simulation system developed in this paper can perform hybrid simulation with the MFE model as well as handle the integration and coupling of the experimental elements with the numerical substructure, which consists of the macro- and micro-level elements. Third, conducting the hybrid simulation by applying earthquake motion to simulate seismic structural behaviour is feasible by using Abaqus to model the numerical substructure and harmonise the boundary connections between three different scale elements.

In terms of the implementation of the hybrid simulation with the MFE model, this work is helpful to advance the hybrid simulation method in the structural experiment field. Nevertheless, there is still a need to refine and enhance the current technique, especially when the hybrid simulation is used in real complex engineering structures, having numerous micro-level elements. A large number of these elements may render the relevant hybrid simulations unattainable because the time consumed in the numeral calculations can become excessive, making the testing of the loading system almost difficult to run smoothly.

The MFE model is implemented in hybrid simulation, enabling to overcome the problems related to the testing accuracy caused by the numerical substructure simplifications using only macro-level elements.

This paper is the first to recognise the advantage of the MFE analysis method in hybrid simulation and propose an innovative hybrid simulation technique, combining the MFE analysis method with hybrid simulation method to strike a delicate balance between the accuracy and efficiency of the numerical substructure simulation in hybrid simulation. With the help of the coordinated analysis of FEs at different scales, not only the accuracy and reliability of the overall seismic analysis of the structure is improved, but the computational cost can be restrained to ensure the efficiency of hybrid simulation.

The purpose of this paper is to improve the efficiency of on-orbit operations through the top-level task design based on DoDAF. Based on the existing upper stage rocket technology, orbit transfer vehicles (OTVs) have developed rapidly in recent years. However, the lack of decision guidance based on overall task analysis requires integrating top-level analysis and bottom-level execution to achieve the smooth development of full-process tasks.

Using the Department of Defense Architecture Framework (DoDAF) as a reference, this paper performs the top-level mission analysis modeling of the on-orbit rendezvous and capture of the OTV. Moreover, the typical operational view products are obtained, and the cooperative relations among the mission requirements, the system requirements, and the functional requirements are also analyzed.

The results show that the attitude of the OTV changes violently during the maneuver and rendezvous phases. In addition, the view products can be optimized based on the results.

The proposed DoDAF-based on-orbit task integration analysis method achieves the effective fusion of high-level analysis and bottom-level execution of OTV on-orbit rendezvous and capture task through the top-level task modeling, operation view generation and task relationship analysis. According to the requirements and constraints of the on-orbit rendezvous and capture task, the control instructions of the vehicle are efficiently generated under the DoDAF framework.

This paper aims to present a technique for optimal trajectory planning of industrial robots that applies a new harmony search (HS) algorithm.

The new HS optimization algorithm adds one more operation to the original HS algorithm. The objective function to be minimized is the trajectory execution time subject to kinematical and mechanical constraints. The trajectory is built by quintic B‐spline curves and cubic B‐spline curves.

Simulation experiments have been undertaken using a 6‐DOF robot QH165. The results show that the proposed technique is valid and that the trajectory obtained using quintic B‐spline curves is smoother than the trajectory using cubic B‐spline curves.

The proposed new HS algorithm is more efficient than the sequential quadratic programming method (SQP) and the original HS method. The proposed technique is applicable to any industrial robot and yields smooth and time‐optimal trajectories.

This paper aims to propose a shape factor for granular materials based on particle shape. The scientific goal is to investigate the influence of particle shape on the mechanical properties of rockfill materials.

The method of generating four regular-shaped particles is based on the observation that most rockfill grains are regarded as like-triangle, like-rhombus, like-square and like-hexagon. A shape factor F that is developed using the Blaschke coefficient and a concave–convex degree is proposed. A biaxial compression test on rockfill materials under stress path is numerically simulated by discrete element method. The evolution of the shape factor F under the simulated stress paths is analyzed, and particle breakage rate, peak intensity and peak-related internal friction angle for rockfill materials are derived. A method of determining the shape factor F involved in the two functions is proposed.

A new micro-parameter is calibrated using the test data of one rockfill material. Particle shape greatly affects the particle breakage rate, peak intensity and peak-related internal friction angle for rockfill materials. The final experimental grading curves all approach the particle breakage grading curve proposed by Einav (the fractal dimension is 2.7).

This study proposes a shape factor F, which describes the geometric features of natural rockfill particles. The proposed shape factor F has a simple structure, and its parameters are easy to determine. The method provides an opportunity for a quantitative study on the particle shape of granular materials, and this study helps to better understand the influence of particle shape on the mechanical characteristics of rockfill materials.

The calculation of buildings’ carbon footprint (CFP) is an important basis for formulating energy-saving and emission-reduction plans for building. As an important building type, there is currently no model that considers the time factor to accurately calculate the CFP of hospital building throughout their life cycle. This paper aims to establish a CFP calculation model that covers the life cycle of hospital building and considers time factor.

On the basis of field and literature research, the basic framework is built using dynamic life cycle assessment (DLCA), and the gray prediction model is used to predict the future value. Finally, a CFP model covering the whole life cycle has been constructed and applied to a hospital building in China.

The results applied to the case show that the CO₂ emission in the operation stage of the hospital building is much higher than that in other stages, and the total CO₂ emission in the dynamic and static analysis operation stage accounts for 83.66% and 79.03%, respectively; the difference of annual average emission of CO₂ reached 28.33%. The research results show that DLCA is more accurate than traditional static life cycle assessment (LCA) when measuring long-term objects such as carbon emissions in the whole life cycle of hospital building.

This research established a carbon emission calculation model that covers the life cycle of hospital building and considered time factor, which enriches the research on carbon emission of hospital building, a special and extensive public building, and dynamically quantifies the resource consumption of hospital building in the life cycle. This paper provided a certain reference for the green design, energy saving, emission reduction and efficient use of hospital building, obviously, the limitation is that this model is only applicable to hospital building.