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This study proposes a predictive neural network model reference decoupling control method for the coupling problem between the leg joints of hydraulic quadruped robots, and verifies its decoupling effect..

The machine–hydraulic cross-linking coupling is studied as the coupling behavior of the hydraulically driven quadruped robot, and the mechanical dynamics coupling force of the robot system is controlled as the disturbance force of the hydraulic system through the Jacobian matrix transformation. According to the principle of multivariable decoupling, a prediction-based neural network model reference decoupling control method is proposed; each module of the control algorithm is designed one by one, and the stability of the system is analyzed by the Lyapunov stability theorem.

The simulation and experimental research on the robot joint decoupling control method is carried out, and the prediction-based neural network model reference decoupling control method is compared with the decoupling control method without any decoupling control method. The results show that taking the coupling effect experiment between the hip joint and knee joint as an example, after using the predictive neural network model reference decoupling control method, the phase lag of the hip joint response line was reduced from 20.3° to 14.8°, the amplitude attenuation was reduced from 1.82% to 0.21%, the maximum error of the knee joint coupling line was reduced from 0.67 mm to 0.16 mm and the coupling effect between the hip joint and knee joint was reduced from 1.9% to 0.48%, achieving good decoupling.

The prediction-based neural network model reference decoupling control method proposed in this paper can use the neural network model to predict the next output of the system according to the input and output. Finally, the weights of the neural network are corrected online according to the predicted output and the given reference output, so that the optimization index of the neural network decoupling controller is extremely small, and the purpose of decoupling control is achieved.

Parallelogram linkages are used to increase the stiffness of manipulators and allow precise control of end-effectors. They help maintain the orientation of connected links when the manipulator changes its position. They are implemented in many palletizing robots connected with binary, ternary and quaternary links through both active and passive joints. This limits the motion of some joints and hence results in relative and negative joint angles when assigning coordinate axes. This study aims to provide a simplified accurate model for manipulators built with parllelogram linkages to ease the kinematics calculations.

This study introduces a simplified model, replacing each parallelogram linkage with a single (binary) link with an active and a passive joint at the ends. This replacement facilitates countering motion while preserving subsequent link orientations. Validation of kinematics is performed on palletizing manipulators from five different OEMs. The validation of Dobot Magician and ABB IRB1410 was carried out in real time and in their control software. Other robots from ABB, Yaskawa, Kuka and Fanuc were validated using control environments and simulators.

The proposed model enables the straightforward derivation of forward kinematics and transforms hybrid robots into equivalent serial-link robots. The model demonstrates high accuracy streamlining the derivation of kinematics.

The proposed model facilitates the use of classical methods like the Denavit–Hartenberg procedure with ease. It not only simplifies kinematics derivation but it also helps in robot control and motion planning within the workspace. The approach can also be implemented to simplify the parallelogram linkages of robots with higher degrees of freedom such as the IRB1410.

This study aims to focus on the surface mount technology (SMT) mass production process of Sn-9Zn-2.5Bi-1.5In solder. It explores it with some components that will provide theoretical support for the industrial SMT application of Sn-Zn solder.

This study evaluates the properties of solder pastes and selects a more appropriate reflow parameter by comparing the microstructure of solder joints with different reflow soldering profile parameters. The aim is to provide an economical and reliable process for SMT production in the industry.

Solder paste wettability and solder ball testing in a nitrogen environment with an oxygen content of 3,000 ppm meet the requirements of industrial production. The printing performance of the solder paste is good and can achieve a printing rate of 100–160 mm/s. When soldering with a traditional stepped reflow soldering profile, air bubbles are generated on the surface of the solder joint, and there are many voids and defects in the solder joint. A linear reflow soldering profile reduces the residence time below the melting point of the solder paste (approximately 110 s). This reduces the time the zinc is oxidized, reducing solder joint defects. The joint strength of tin-zinc joints soldered with the optimized reflow parameters is close to that of Sn-58Bi and SAC305, with high joint strength.

This study attempts to industrialize the application of Sn-Zn solder and solves the problem that Sn-Zn solder paste is prone to be oxidized in the application and obtains the SMT process parameters suitable for Sn-9Zn-2.5Bi-1.5In solder.

This study aims to investigate the thermal fracture mechanism of moisture-preconditioned SAC305 ball grid array (BGA) solder joints subjected to multiple reflow and thermal cycling.

The BGA package samples are subjected to JEDEC Level 1 accelerated moisture treatment (85 °C/85%RH/168 h) with five times reflow at 270 °C. This is followed by multiple thermal cycling from 0 °C to 100 °C for 40 min per cycle, per IPC-7351B standards. For fracture investigation, the cross-sections of the samples are examined and analysed using the dye-and-pry technique and backscattered scanning electron microscopy. The packages' microstructures are characterized using an energy-dispersive X-ray spectroscopy approach. Also, the package assembly is investigated using the Darveaux numerical simulation method.

The study found that critical strain density is exhibited at the component pad/solder interface of the solder joint located at the most distant point from the axes of symmetry of the package assembly. The fracture mechanism is a crack fracture formed at the solder's exterior edges and grows across the joint's transverse section. It was established that Au content in the formed intermetallic compound greatly impacts fracture growth in the solder joint interface, with a composition above 5 Wt.% Au regarded as an unsafe level for reliability. The elongation of the crack is aided by the brittle nature of the Au-Sn interface through which the crack propagates. It is inferred that refining the solder matrix elemental compound can strengthen and improve the reliability of solder joints.

Inspection lead time and additional manufacturing expenses spent on investigating reliability issues in BGA solder joints can be reduced using the study's findings on understanding the solder joint fracture mechanism.

Limited studies exist on the thermal fracture mechanism of moisture-preconditioned BGA solder joints exposed to both multiple reflow and thermal cycling. This study applied both numerical and experimental techniques to examine the reliability issue.

Scholars have affirmed that a conceptualization of value co-creation in business relationships should reflect the nature and characteristics of interactional processes that occur in use. The advent of sales and marketing technologies, however, is changing the nature and dynamics of interactions. New trends in digitalization have played a significant role in emphasizing and facilitating the occurrence of business-to- business (B2B) collaborative or sharing economy. The B2B sharing economy and value co-creation are closely intertwined, as businesses harness the power of shared resources and collaboration to generate value in diverse ways. This study highlights the importance of going beyond value co-creation in studying B2B collaborative economy, unpacking the interconnected value processes that influence value co-creation. It also aims at showing the activities that characterize multiple joint value spheres among actors.

The study consists of 49 qualitative interviews with managers operating in different industries.

The paper shows that when considering digital B2B contexts, five joint value spheres in business relationships should be considered: a value co-creation, a value appropriation, a value communication, a value measurement and a value representation sphere. Each one is characterized by specific activities that are relevant from a managerial point of view.

This study highlights that value co-creation has often been over stressed when discussing business interactions, also with the advent of new technologies. Rather, this study offers a more comprehensive view of value co-creation that includes different value processes occurring in joint value spheres. These further processes are relevant because failure and success in business relationships within the B2B sharing economy are often dependent from activities outside the value co-creation process, which strongly affect it. Such knowledge will also open up new research venues and opportunities to better contribute to the practice of value management in business relationships.

Nowadays, in building structures, dampers are connected to the building structure to reduce the damages caused by seismicity in addition to enhancing structural stability, and to connect dampers with the structure, joints are used. In this paper, three different configurations of double-lap joints were designed, developed and tested.

This paper aims to analyze three different categories of double-lap single-bolted joints that are used in connecting dampers with concrete and steel frame structures. These joints were designed and tested using computational, numerical and experimental methods. The studies were conducted to examine the reactions of the joints during loading conditions and to select the best joints for the structures that allow easy maintenance of the dampers and also withstand structural deformation when the damper is active during seismicity. Also, a computational analysis was performed on the designed joints integrated with the M25 concrete beam column junction. In this investigation, experimental study was carried out in addition to numerical and computational methods during cyclic load.

It was observed from the result that during deformation the double-base multiplate lap joint was suitable for buildings because the deformations on the joint base was negligible when compared with other joints. From the computational analysis, it was revealed that the three double joints while integrated with the beam column junction of M25 grade concrete structure, the damages induced by the double-base multiplate joint was negligible when compared with other two joints used in this study.

To prevent the collapse of the building during seismicity, dampers are used and further connecting the damper with the building structures, joints are used. In this paper, three double-lap joints in different design configuration were studied using computational, numerical and experimental techniques.

To solve the problems caused by using precise molds for copper column positioning in the current column grid array package, this paper aims to optimize the proposed friction plunge micro-welding (FPMW) technology without mold assistance, to overcome the problems of low interfacial bonding strength, shrinkage cavities and flash defects caused by the low hold-tight force of solder on the copper column.

A pressurizing device installed under the drill chuck of the friction welding machine is designed, which is used to apply a static constraint to the solder ball obliquely downward to increase the hold-tight force of the peripheral solder on the copper column during welding and promote the friction metallurgical connection between them.

The results show that the application of static constraint during welding can increase the compactness of the solder near the friction interface and effectively inhibit occurrences of flash, shrinkage cavities and crystal defects such as vacancies. Therefore, compared with the unconstrained (UC) FPMW, the average strength of the statically constrained (SC) FPMW joints and aged SC-FPMW joints can be increased by 51.1% and 122.6%, and the problem of the excessive growth of the interfacial connection layer in the UC-FPMW joints during aging can be effectively avoided.

The application of static constraint effectively inhibits the occurrence of defects such as shrinkage cavities, vacancies and flash in FPMW joints, and the welding quality is significantly improved.

Because of the key role of joint torque in industrial robots (IRs) motion performance control and energy consumption calculation and efficiency optimization, the purpose of this paper is to propose a deep learning torque prediction method based on long short-term memory (LSTM) recurrent neural networks optimized by particle swarm optimization (PSO), which can accurately predict the the joint torque.

The proposed model optimized the LSTM with PSO algorithm to accurately predict the IRs joint torque. The authors design an excitation trajectory for ABB 1600–10/145 experimental robot and collect its relative dynamic data. The LSTM model was trained with the experimental data, and PSO was used to find optimal number of LSTM nodes and learning rate, then a torque prediction model is established based on PSO-LSTM deep learning method. The novel model is used to predict the robot’s six joint torque and the root mean error squares of the predicted data together with least squares (LS) method were comparably studied.

The predicted joint torque value by PSO-LSTM deep learning approach is highly overlapped with those from real experiment robot, and the error is quite small. The average square error between the predicted joint torque data and experiment data is 2.31 N.m smaller than that with the LS method. The accuracy of the novel PSO-LSTM learning method for joint torque prediction of IR is proved.

PSO and LSTM model are deeply integrated for the first time to predict the joint torque of IR and the prediction accuracy is verified.

The purpose of this paper is to compile a comprehensive status report on pipes/piping networks across different industrial sectors, along with specifications of materials and sizes, and showcase welding avenues. It further extends to highlight the promising friction stir welding as a single solid-state pipe welding procedure. This paper will enable all piping, welding and friction stir welding stakeholders to identify scope for their engagement in a single window.

The paper is a review paper, and it is mainly structured around sections on materials, sizes and standards for pipes in different sectors and the current welding practice for joining pipe and pipe connections; on the process and principle of friction stir welding (FSW) for pipes; identification of main welding process parameters for the FSW of pipes; effects of process parameters; and a well-carved-out concluding summary.

A well-carved-out concluding summary of extracts from thoroughly studied research is presented in a structured way in which the avenues for the engagement of FSW are identified.

The implications of the research are far-reaching. The FSW is currently expanding very fast in the welding of flat surfaces and has evolved into a vast number of variants because of its advantages and versatility. The application of FSW is coming up late but catching up fast, and as a late starter, the outcomes of such a review paper may support stake holders to expand the application of this process from pipe welding to pipe manufacturing, cladding and other high-end applications. Because the process is inherently inclined towards automation, its throughput rate is high and it does not need any consumables, the ultimate benefit can be passed on to the industry in terms of financial gains.

To the best of the authors’ knowledge, this is the only review exclusively for the friction stir welding of pipes with a well-organized piping specification detailed about industrial sectors. The current pipe welding practice in each sector has been presented, and the avenues for engaging FSW have been highlighted. The FSW pipe process parameters are characteristically distinguished from the conventional FSW, and the effects of the process parameters have been presented. The summary is concise yet comprehensive and organized in a structured manner.

Intent detection (ID) and slot filling (SF) are two important tasks in natural language understanding. ID is to identify the main intent of a paragraph of text. The goal of SF is to extract the information that is important to the intent from the input sentence. However, most of the existing methods use sentence-level intention recognition, which has the risk of error propagation, and the relationship between intention recognition and SF is not explicitly modeled. Aiming at this problem, this paper proposes a collaborative model of ID and SF for intelligent spoken language understanding called ID-SF-Fusion.

ID-SF-Fusion uses Bidirectional Encoder Representation from Transformers (BERT) and Bidirectional Long Short-Term Memory (BiLSTM) to extract effective word embedding and context vectors containing the whole sentence information respectively. Fusion layer is used to provide intent–slot fusion information for SF task. In this way, the relationship between ID and SF task is fully explicitly modeled. This layer takes the result of ID and slot context vectors as input to obtain the fusion information which contains both ID result and slot information. Meanwhile, to further reduce error propagation, we use word-level ID for the ID-SF-Fusion model. Finally, two tasks of ID and SF are realized by joint optimization training.

We conducted experiments on two public datasets, Airline Travel Information Systems (ATIS) and Snips. The results show that the Intent ACC score and Slot F1 score of ID-SF-Fusion on ATIS and Snips are 98.0 per cent and 95.8 per cent, respectively, and the two indicators on Snips dataset are 98.6 per cent and 96.7 per cent, respectively. These models are superior to slot-gated, SF-ID NetWork, stack-Prop and other models. In addition, ablation experiments were performed to further analyze and discuss the proposed model.

This paper uses word-level intent recognition and introduces intent information into the SF process, which is a significant improvement on both data sets.