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Permanent magnet synchronous spherical motors can have wide use in robotics and industrial automation. They enable three-DOF omnidirectional motion of their rotor. They are suitable for several applications, such as actuation in robotics, traction in electric vehicles and use in several automation systems. Unlike conventional synchronous motors, permanent magnet synchronous spherical motors consist of a fixed inner shell, which is the stator, and a rotating outer shell, which is the rotor. Their dynamic model is multivariable and strongly nonlinear. The treatment of the associated control problem is important.

In this paper, the multivariable dynamic model of permanent magnet synchronous spherical motors is analysed, and a nonlinear optimal (H-infinity) control method is developed for it. Differential flatness properties are proven for the spherical motors’ state-space model. Next, the motors’ state-space description undergoes approximate linearization with the use of first-order Taylor series expansion and through the computation of the associated Jacobian matrices. The linearization process takes place at each sampling instance around a time-varying operating point, which is defined by the present value of the motors’ state vector and by the last sampled value of the control input vector. For the approximately linearized model of the permanent magnet synchronous spherical motors, a stabilizing H-infinity feedback controller is designed. To compute the controller’s gains, an algebraic Riccati equation has to be repetitively solved at each time-step of the control algorithm. The global stability properties of the control scheme are proven through Lyapunov analysis. Finally, the performance of the nonlinear optimal control method is compared against a flatness-based control approach implemented in successive loops.

Due to the nonlinear and multivariable structure of the state-space model of spherical motors, the solution of the associated nonlinear control problem is a nontrivial task. In this paper, a novel nonlinear optimal (H-infinity) control approach is proposed for the dynamic model of permanent magnet synchronous spherical motors. The method is based on approximate linearization of the motor’s state-space model with the use of first-order Taylor series expansion and the computation of the associated Jacobian matrices. Furthermore, the paper has introduced a different solution to the nonlinear control problem of the permanent magnet synchronous spherical motor, which is based on flatness-based control implemented in successive loops.

The presented control approaches do not exhibit any limitations, but on the contrary, they have specific advantages. In comparison to global linearization-based control schemes (such as Lie-algebra-based control), they do not make use of complicated changes of state variables (diffeomorphisms) and transformations of the system's state-space description. The computed control inputs are applied directly to the initial nonlinear state-space model of the permanent magnet spherical motor without the intervention of inverse transformations and thus without coming against the risk of singularities.

The motion control problem of spherical motors is nontrivial because of the complicated nonlinear and multivariable dynamics of these electric machines. So far, there have been several attempts to apply nonlinear feedback control to permanent magnet-synchronous spherical motors. However, due to the model’s complexity, few results exist about the associated nonlinear optimal control problem. The proposed nonlinear control methods for permanent magnet synchronous spherical motors make more efficient, precise and reliable the use of such motors in robotics, electric traction and several automation systems.

The treated research topic is central for robotic and industrial automation. Permanent magnet synchronous spherical motors are suitable for several applications, such as actuation in robotics, traction in electric vehicles and use in several automation systems. The solution of the control problem for the nonlinear dynamic model of permanent magnet synchronous spherical motors has many industrial applications and therefore contributes to economic growth and development.

The proposed nonlinear optimal control method is novel compared to past attempts to solve the optimal control problem for nonlinear dynamical systems. Unlike past approaches, in the new nonlinear optimal control method, linearization is performed around a temporary operating point, which is defined by the present value of the system's state vector and by the last sampled value of the control inputs vector and not at points that belong to the desirable trajectory (setpoints). Besides, the Riccati equation which is used for computing the feedback gains of the controller is new, and so is the global stability proof for this control method. Compared to nonlinear model predictive control, which is a popular approach for treating the optimal control problem in industry, the new nonlinear optimal (H-infinity) control scheme is of proven global stability, and the convergence of its iterative search for the optimum does not depend on initial conditions and trials with multiple sets of controller parameters. It is also noteworthy that the nonlinear optimal control method is applicable to a wider class of dynamical systems than approaches based on the solution of state dependent Riccati equations (SDRE). The SDRE approaches can be applied only to dynamical systems which can be transformed into the linear parameter varying form. Besides, the nonlinear optimal control method performs better than nonlinear optimal control schemes, which use approximation of the solution of the Hamilton–Jacobi–Bellman equation by Galerkin series expansions. Furthermore, the second control method proposed in this paper, which is flatness-based control in successive loops, is also novel and demonstrates substantial contribution to nonlinear control for robotics and industrial automation.

This paper aims to study the impact of pyro-electricity, moisture and temperature diffusivity on the energy distribution of plane waves at the free surface of an orthotropic piezo-hygro-thermo-elastic medium.

This study presents the novel creation of governing equations for an anisotropic piezothermoelastic medium with moisture impact, which is a significant contribution of this paper.

In addition to providing numerical data for the amplitude ratios and energy ratios of reflected waves, this study identifies five different kinds of coupled reflected plane waves, namely, quasi-longitudinal P wave, quasi-thermal wave, quasi-transverse wave, quasi-moisture wave and electric potential wave.

The graphical analysis examines the impact of various factors, such as the angle of incidence, moisture and temperature diffusivity, pyro-electricity and frequency, on energy distribution.

This paper's results significantly impact the development of more efficient piezoelectric materials and their applications in geophysics.

The authors of the submitted document initiated and produced it collectively, with equal contributions from all members.

The purpose of this paper is to present the author’s method of conservative load spectrum (LS) derivation and close-proximity LS extrapolation applying a correction for measurement uncertainty caused by too low sampling frequency or signal noise, which may affect the load histories collected during the flying session and cause some recorded load increments to be lower than the actual values.

Having in mind that the recorded load signal is burdened with some measurement error, a conservative approach was applied during qualification of the recorded values into 32 discrete load-level intervals and derivation of 32 × 32 half-cycle arrays. A part of each cell value of the half-cycle array was dispersed into the neighboring cells placed above by using a random number generator. It resulted in an increase in the number of load increments, which were one or two intervals higher than those resulting from direct data processing. Such an array was termed a conservative clone of the actual LS. The close-proximity approximation consisted of multiplication of the LSs clones and their aggregation. This way, the LS for extended time of operation was obtained. The whole process was conducted in the MS Excel environment.

Fatigue life calculated for a chosen element of aircraft structure using conservative LS is about 20%–60% lower than for the actual LS (depending on the applied value of dispersion coefficients used in the procedure of LSs clones generation). It means that such a result gives a bigger safety margin when operational life of the aircraft is estimated or when the fatigue test for an extended operational period is programed based on a limited quantity of data from a flying session.

This paper presents a proposal for a novel, conservative approach to fatigue life estimation based on the short-term LS derived from the load signal recorded during the flying session.

The purpose of this research is to conduct a theoretical prediction study exploring the effectiveness of different content marketing strategies in expanding the second-hand market for fashion brands, comparing the costs and risks involved in these strategies in practice.

First, the expert interview method is employed to extract the content marketing strategies of the fashion second-hand market. Then, a descriptive space that is able to identify various fashion brand images is established. Then, experts' perceptions of the relationships between content marketing strategies and fashion brand image dimensions are obtained through a subjective evaluation procedure. Data of semantic evaluation were quantified and analyzed using the fuzzy logic method.

When fashion brands expand to the second-hand market, they not only need to focus on improving the individual differentiation of products but also give priority to the quality of products and services and the overall customer experience. Exploring the “social impact strategy” will become an important direction for the development of fashion brands in the future.

The research methodology employed herein exhibits a noteworthy degree of novelty. This study introduces a pioneering theoretical prediction approach utilizing fuzzy logic, marking the inaugural exploration of this emerging and captivating dimension within the context of the study. Simultaneously, the study provides comparative results among content marketing strategies for expanding the fashion second-hand market, offering guidance for market expansion.

The purpose of this study is to examine the existence of greenwashing and sustainable development goal (SDG)-washing processes by comparing ex ante (SDG Compass) and ex post (SDG Compliance) indicators and investigating whether the limitations associated with these indicators encourage companies to engage in washing processes.

The authors use a sample of 1,154 companies included in the S&P Sustainability Yearbook (formerly the RobecoSAM Yearbook). The authors test for the presence of greenwashing by comparing ex ante and ex post indicators for each SDG, whereas to test for SDG-washing, the authors compare the two ex ante and ex post approaches considering the full set of SDGs.

The results show that there is no consistency between the two types of indicators to measure the level of SDG implementation in organisations. This lack of consistency may facilitate both greenwashing and SDG-washing processes, which is due to the design and limitations of these measurement tools.

Companies may choose those indicators that paint their commitment to the SDGs in the best light, but they may also select indicators based on the SDGs they want to report on. These two options would combine greenwashing and SDG-washing.

The shift towards improved standards and regulations for measuring SDG achievement is the result of several social factors such as investor scrutiny, regulatory reform, consumer awareness and increased corporate accountability.

Few previous studies have analysed in detail the interaction between greenwashing and SDG-washing. They focus on the use of ex ante or ex post indicators separately, with samples composed of local companies, and without considering the whole set of SDGs.

This chapter of the book aims to achieve sustainability and productivity in light of the interaction between managers and engineers in a lean and agile supply chain management system in today’s organizations. The main innovation of this chapter is the use of the balanced scorecard (BSC) model and fuzzy analysis network process (FANP) to create a suitable platform for the realization of this interaction between managers and engineers and to identify exactly which expert system is ideal for the main purpose. Indeed, this chapter introduces its readers to the application of strategic management tools such as the BSC accompanied by FANP in the elements of supply chain management where data analysis of lean and agile networks in supply chain management can create a competitive advantage in the organization.

The authors explore the hypothesis that some movements in commodity prices are anticipated (news shocks) and can trigger aggregate fluctuations in small open emerging economies. This paper aims to discuss the aforementioned objective.

The authors build a multi-sector dynamic stochastic general equilibrium model with endogenous commodity production. There are five exogenous processes: a country-specific interest rate shock that responds to commodity price fluctuations, a productivity (TFP) shock for each sector and a commodity price shock. Both TFP and commodity price shocks are composed of unanticipated and anticipated components.

The authors show that news shocks to commodity prices lead to higher output, investment and consumption, and a countercyclical movement in the trade-balance-to-output ratio. The authors also show that commodity price news shocks explain about 24% of output aggregate fluctuations in the small open economy.

Given the importance of both anticipated and unanticipated commodity price shocks, policymakers should pay attention to developments in commodity markets when designing policies to attenuate the business cycles. Future research should investigate the design of optimal fiscal and monetary policies in SOE subject to news shocks in commodity prices.

This paper contributes to the knowledge of the sources of fluctuations in emerging economies highlighting the importance of a new source: news shocks in commodity prices.

The purpose of this paper is to propose a novel event-triggered aperiodic intermittent sliding-mode control (ETAI-SMC) algorithm for master–slave bilateral teleoperation robotic systems to further save communication resources while maintaining synchronization precision.

By using the Lyapunov theory, a new event-triggered aperiodic intermittent sliding-mode controller is designed to synchronize master–slave robots in a discontinuous method. Unlike traditional periodic time-triggered continuous control strategy, a new ETAI condition is discussed for less communication pressure. Then, the exponential reaching law is adopted to accelerate sliding-mode variables convergence, which has a significant effect on synchronization performance. In addition, the authors use quantizers to make their algorithm have obvious progress in saving communication resources.

The proposed control algorithm performance is validated by an experiment developed on a practical bilateral teleoperation system with two PHANToM Omni robotic devices. As a result, the synchronization error is limited within a small range and the control frequency is evidently reduced. Compared with a conventional control algorithm, the experimental results illustrate that the proposed control algorithm is more sensitive to system states changes and it can further save communication resources while guaranteeing the system synchronization accuracy, which is more practical for real bilateral teleoperation robotic systems.

A novel ETAI-SMC for bilateral teleoperation robotic systems is proposed to find a balance between reducing the control frequency and synchronization control precision. Combining the traditional sliding-mode control algorithm with the periodic intermittent control strategy and the event-triggered control strategy has produced obvious effect on our control performance. The proposed ETAI-SMC algorithm helps the controller be more sensitive to system states changes, which makes it possible to achieve precise control with lower control frequency. Moreover, we design an environment contact force feedback algorithm for operators to improve the perception of the slave robot working environment. In addition, quantizers and the exponential convergence law are adopted to help the proposed algorithm perform better in saving communication resources and improving synchronization precision.

The purpose of this paper is to establish a maturity evaluation model for the application of construction steel structure welding robotics suitable for the actual situation and specific characteristics of engineering projects in China and then to assess the maturity level of the technology in the application of domestic engineering projects more scientifically.

The research follows a qualitative and quantitative analysis method. In the first stage, the structure of the maturity model is constructed and the evaluation index system is designed by using the ideas of the capability maturity model and WSR methodology for reference. In the second stage, the design of the evaluation process and the selection of evaluation methods (analytic hierarchy process method, multi-level gray comprehensive evaluation method). In the third stage, the data are collected and organized (preparation of questionnaires, distribution of questionnaires, questionnaire collection). In the fourth stage, the established maturity evaluation model is used to analyze the data.

The evaluation model established by using multi-level gray theory can effectively transform various complex indicators into an intuitive maturity level or score status. The conclusion shows that the application maturity of building steel structure welding robot technology in this project is at the development level as a whole. The maturity levels of “WuLi – ShiLi – RenLi” are respectively: development level, development level, between starting level and development level. Comparison of maturity evaluation values of five important factors (from high to low): environmental factors, technical factors, management factors, benefit factors, personnel and group factors.

In this paper, based on the existing research related to construction steel structure welding robot technology, a quantitative and holistic evaluation of the application of construction steel structure welding robot technology in domestic engineering projects is conducted for the first time from a project perspective by designing a maturity evaluation index system and establishing a maturity evaluation model. This research will help the project team to evaluate the application level (maturity) of the welding robot in the actual project, identify the shortcomings and defects of the application of this technology, then improve the weak links pertinently, and finally realize the gradual improvement of the overall application level of welding robot technology for building steel structure.