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This study aims to research the development trend, research status, research results and existing problems of the steel–concrete composite joint of railway long-span hybrid girder cable-stayed bridge.

Based on the investigation and analysis of the development history, structure form, structural parameters, stress characteristics, shear connector stress state, force transmission mechanism, and fatigue performance, aiming at the steel–concrete composite joint of railway long-span hybrid girder cable-stayed bridge, the development trend, research status, research results and existing problems are expounded.

The shear-compression composite joint has become the main form in practice, featuring shortened length and simplified structure. The length of composite joints between 1.5 and 3.0 m has no significant effect on the stress and force transmission laws of the main girder. The reasonable thickness of the bearing plate is 40–70 mm. The calculation theory and simplified calculation formula of the overall bearing capacity, the nonuniformity and distribution laws of the shear connector, the force transferring ratio of steel and concrete components, the fatigue failure mechanism and structural parameters effects are the focus of the research study.

This study puts forward some suggestions and prospects for the structural design and theoretical research of the steel–concrete composite joint of railway long-span hybrid girder cable-stayed bridge.

This paper aims to present an iterative path-following method with joint limits to solve the problem of large computation cost, movement exceeding joint limits and poor path-following accuracy for the path planning of hyper-redundant snake-like manipulator.

When a desired path is given, new configuration of the snake-like manipulator is obtained through a geometrical approach, then the joints are repositioned through iterations until all the rotation angles satisfy the imposed joint limits. Finally, a new arrangement is obtained through the analytic solution of the inverse kinematics of hyper-redundant manipulator. Finally, simulations and experiments are carried out to analyze the performance of the proposed path-following method.

Simulation results show that the average computation time is 0.1 ms per step for a hyper-redundant manipulator with 12 degrees of freedom, and the deviation in tip position can be kept below 0.02 mm. Experiments show that all the rotation angles are within joint limits.

Currently , the manipulator is working in open-loop, the elasticity of the driving cable will cause positioning error. In future, close-loop control based on real-time attitude detection will be used in in combination with the path-following method to achieve high-precision trajectory tracking.

Through a series of iterative processes, the proposed method can make the manipulator approach the desired path as much as possible within the joint constraints with high precision and less computation time.

The purpose of this paper is to evaluate and exploit the combination of additive manufacturing polymeric technology and structural adhesives. The main advantage is to expand the maximum dimension of the 3D printed parts, which is typically limited, by joining the parts with structural adhesive, without losing strength and stiffness and keeping the major asset of polymeric 3 D printing: freedom of shape of the system and low cost of parts.

The materials used in the paper are the following. The adhesive considered is a commercial inexpensive acrylic, quite similar to superglue, applicable with almost no surface preparation and fast curing, as time constraint is one of the key problems that affects industrial adhesive applications. The 3D printed parts were in acrylonitrile butadiene styrene (ABS), obtained with a Fortus 250mc FDM machine, from Stratasys. The work first compares flat overlap joint with joints designed to permit mechanical interlocking of the adherends and then to a monolithic component with the same geometry. Single lap, joggle lap and double lap joints are the configurations experimentally characterized following a design of experiment approach.

The results show a failure in the substrate, due to the low strength of the polymeric adherends for the first batch of typical bonded configurations, single lap, joggle lap and double lap. The central bonded area, with an increased global thickness, never does fail, and the adhesive is able to transfer the load both with and without mechanical interlocking. An additional set of scarf joints was also tested to promote adhesive failure as well as to retrieve the adhesive strength in this application. The results shows that bonding of polymeric AM parts is able to express its full potential compared with a monolithic solution even though the joint fails prematurely in the adherend due to the bending stresses and the notches present in the lap joints.

Because of the 3D printed polymeric material adopted, the results may be generalized only when the elastic properties of the adherends and of the adhesive are similar, so it is not possible to extend the findings of the work to metallic additive manufactured components.

The paper shows that the adhesives are feasible way to expand the potentiality of 3 D printed equipment to obtain larger parts with equivalent mechanical properties. The paper also shows that the scarf joint, which fails in the adhesive first, can be used to extract information about the adhesive strength, useful for the designers which have to combine adhesive and additive manufactured polymeric parts.

To the best of the researchers’ knowledge, there are scarce quantitative information in technical literature about the performance of additive manufactured parts in combination with structural adhesives and this work provides an insight on this interesting subject. This manuscript provides a feasible way of using rapid prototyping techniques in combination with adhesive bonding to fully exploit the additive manufacturing capability and to create large and cost-effective 3 D printed parts.

The study examines how introducing joint municipal arm's length bodies (ALBs) into municipal waste management has influenced the preconditions of democratic governance.

The authors describe and explain the democratic implications of joint municipal agencification by reviewing the perspectives of representative and participative democracy. Through this approach, the authors apply the exit–voice framework developed by Albert Hirschman to highlight the potential roles and rights of citizens. This research includes country case studies of Finland and Norway. The authors analyse and systematize Finnish and Norwegian waste and organizational policies by reviewing national regulatory documents, commentaries and guidance materials to identify the fundamental missions and institutional traditions of the alternative organizational forms of joint ALBs.

The study findings highlight that joint agencification has an adverse effect on the democratic governance of waste management policy and services even though these are public monopoly services. They also demonstrate that all joint municipal ALBs limit the classic elements of representative democracy in general, and that private-law ALBs limit residents' rights to influence and participate.

This study contributes to local public management studies by applying Hirschman's theory to comparative reviews of joint agencification and ALBs. It revealed the similarities and differences between the different organizational forms of joint ALBs applied in Finland and Norway. It also demonstrated how the democratic rights of residents depend on how municipalities collaborate.

The purpose of this paper is to propose a two-degrees-of-freedom wire-driven 4SPS/U rigid‒flexible parallel trunk joint mechanism based on spring, in order to improve the robot’s athletic ability, load capacity and rigidity, and to ensure the coordination of multi-modal motion.

First, based on the rotation transformation matrix and closed-loop constraint equation of the parallel trunk joint mechanism, the mathematical model of its inverse position solution is constructed. Then, the Jacobian matrix of velocity and acceleration is derived by time derivative method. On this basis, the stiffness matrix of the parallel trunk joint mechanism is derived on the basis of the principle of virtual work and combined with the deformation effect of the rope driving pair and the spring elastic restraint pair. Then, the eigenvalue distribution of the stiffness matrix and the global stiffness performance index are used as the stiffness evaluation index of the mechanism. In addition, the performance index of athletic dexterity is analyzed. Finally, the distribution map of kinematic dexterity and stiffness is drawn in the workspace by numerical simulation, and the influence of the introduced spring on the stiffness distribution of the parallel trunk joint mechanism is compared and analyzed. It is concluded that the stiffness in the specific direction of the parallel trunk joint mechanism can be improved, and the stiffness distribution can be improved by adjusting the spring elastic structure parameters of the rope-driven branch chain.

Studies have shown that the wire-driven 4SPS/U rigid‒flexible parallel trunk joint mechanism based on spring has a great kinematic dexterity, load-carrying capacity and stiffness performance.

The soft-mixed structure is not mature, and there are few new materials for the soft-mixed mixture; the rope and the rigid structure are driven together with a large amount of friction and hindrance factors, etc.

It ensures that the multi-motion mode hexapod mobile robot can meet the requirement of sufficient different stiffness for different motion postures through the parallel trunk joint mechanism, and it ensures that the multi-motion mode hexapod mobile robot in multi-motion mode can meet the performance requirement of global stiffness change at different pose points of different motion postures through the parallel trunk joint mechanism.

The trunk structure is a very critical mechanism for animals. Animals in the movement to achieve smooth climbing, overturning and other different postures, such as centipede, starfish, giant salamander and other multi-legged animals, not only rely on the unique leg mechanism, but also must have a unique trunk joint mechanism. Based on the cooperation of these two mechanisms, the animal can achieve a stable, flexible and flexible variety of motion characteristics. Therefore, the trunk joint mechanism has an important significance for the coordinated movement of the whole body of the multi-sport mode mobile robot (Huang Hu-lin, 2016).

In this paper, based on the idea of combining rigid parallel mechanism with wire-driven mechanism, a trunk mechanism is designed, which is composed of four spring-based wire-driven 4SPS/U rigid‒flexible parallel trunk joint mechanism in series. Its spring-based wire-driven 4SPS/U rigid‒flexible parallel trunk joint mechanism can make the multi-motion mode mobile robot have better load capacity, mobility and stiffness performance (Qi-zhi et al., 2018; Cong-hao et al., 2018), thus improving the environmental adaptability and reliability of the multi-motion mode mobile robot.

This paper aims to investigate voiding phenomena in solder joints under thermal pads of light-emitting diodes (LEDs) assembled in mass production environment by reflow soldering by using seven low-voiding lead-free solder pastes.

The solder pastes investigated are of SAC305 type, Innolot type or they are especially formulated by the manufacturers on the base of (SnAgCu) alloys with addition of some alloying elements such as Bi, In, Sb and Ti to provide low-void contents. The SnPb solder paste – OM5100 – was used as a benchmark. The solder paste coverage of LED solder pads was chosen as a measure of void contents in solder joints because of common usage of this parameter in industry practice.

It was found that the highest coverage and, related to it, the least void contents are in solder joints formed with the pastes LMPA-Q and REL61, which are characterized by the coverage of mean value 93.13% [standard deviation (SD) = 2.72%] and 92.93% (SD = 2.77%), respectively. The void diameters reach the mean value equal to 0.061 mm (SD = 0.044 mm) for LMPA-Q and 0.074 mm (SD = 0.052 mm) for REL61. The results are presented in the form of histograms, plot boxes and X-ray images. Some selected solder joints were observed with 3D computer tomography.

The statistical analyses are carried out on the basis of 2D X-ray images with using Origin software. They enable to compare features of various solder pastes recommended by manufacturers as low voiding. The results might be useful for solder paste manufacturers or electronic manufacturing services.

Straightness measurement of rail weld joint is of essential importance to railway maintenance. Due to the lack of efficient measurement equipment, there has been limited in-depth research on rail weld joint with a 5-m wavelength range, leaving a significant knowledge gap in this field.

In this study, the authors used the well-established inertial reference method (IR-method), and the state-of-the-art multi-point chord reference method (MCR-method). Two methods have been applied in different types of rail straightness measurement trollies, respectively. These instruments were tested in a high-speed rail section within a certain region of China. The test results were ultimately validated through using traditional straightedge and feeler gauge methods as reference data to evaluate the rail weld joint straightness within the 5-m wavelength range.

The research reveals that IR-method and MCR-method produce reasonably similar measurement results for wavelengths below 1 m. However, MCR-method outperforms IR-method in terms of accuracy for wavelengths exceeding 3 m. Furthermore, it was observed that IR-method, while operating at a slower speed, carries the risk of derailing and is incapable of detecting rail weld joints and low joints within the track.

The research compare two methods’ measurement effects in a longer wavelength range and demonstrate the superiority of MCR-method.

Both geometric and non-geometric parameters have noticeable influence on the absolute positional accuracy of 6-dof articulated industrial robot. This paper aims to enhance it and improve the applicability in the field of flexible assembling processing and parts fabrication by developing a more practical parameter identification model.

The model is developed by considering both geometric parameters and joint stiffness; geometric parameters contain 27 parameters and the parallelism problem between axes 2 and 3 is involved by introducing a new parameter. The joint stiffness, as the non-geometric parameter considered in this paper, is considered by regarding the industrial robot as a rigid linkage and flexible joint model and adds six parameters. The model is formulated as the form of error via linearization.

The performance of the proposed model is validated by an experiment which is developed on KUKA KR500-3 robot. An experiment is implemented by measuring 20 positions in the work space of this robot, obtaining least-square solution of measured positions by the software MATLAB and comparing the result with the solution without considering joint stiffness. It illustrates that the identification model considering both joint stiffness and geometric parameters can modify the theoretical position of robots more accurately, where the error is within 0.5 mm in this case, and the volatility is also reduced.

A new parameter identification model is proposed and verified. According to the experimental result, the absolute positional accuracy can be remarkably enhanced and the stability of the results can be improved, which provide more accurate parameter identification for calibration and further application.

Many treatment methods for intra-articular fractures of the proximal interphalangeal (PIP) joint are described in the literature without a consensus on the most effective approach. The purpose of this study was to investigate the methods of treatment of PIP joint fractures being used by trauma surgeons in the Republic of Ireland currently and the timing of referral to therapy.

A cross-sectional descriptive study methodology was used to survey trauma surgeons, occupational therapists and physiotherapists in Ireland. An online platform was used. A total of 21 surveys were returned by surgeons and 37 by therapists. Descriptive statistical analysis was used to present the results.

Buddy strapping was reported as the primary treatment method for stable PIP joint fractures. All levels of fracture severity were reported to be treated using traction constructs, which include static and dynamic fixation and orthoses. Unstable fractures were managed using open reduction with internal fixation by 50 per cent of surgeons. Early timing of referral to therapy is reported by more surgeons than therapists. The majority of therapists indicated that they did not have the resources to see patients at the optimal time.

To the authors’ knowledge, this study provides the first description of the management of PIP joint fractures across the Irish health service. The findings of this study suggest that additional therapy resources are required within the health service executive to facilitate the desired early referral to therapy and to enable service development for this category of hand fractures.

Wrist orthoses are used by occupational therapists to decrease pain, support weak muscles and protect tissues during healing. However, use of wrist orthoses has been observed to produce compensatory movements in other upper extremity joints. This paper aims to determine whether wearing wrist orthoses produced compensatory movements of the elbow in addition to the shoulder when performing drinking and hammering tasks.

Two twin-axis electrogoniometers were positioned on the elbow and shoulder to track joint movement. The four conditions were drink with orthosis, hammer with orthosis, drink without orthosis and hammer without orthosis. Joint movement was defined as total angular excursion of the joint throughout the performance of the task. Separate 2 × 2 (joint × orthosis) repeated measures analyzes of variance (ANOVA) were used to evaluate differences in joint excursion of the elbow and shoulder joints between orthosis conditions for each task.

Wearing a wrist orthosis did not change the amount of joint excursion compared to not wearing an orthosis during the drinking and hammering tasks.

Findings suggest that wrist orthoses do not result in statistically significant changes in elbow and shoulder joint movements during simulated drinking and hammering tasks.