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The purpose of this paper is to design a climbing robot connected by a connecting rod mechanism to achieve multi-functional tasks such as obstacles crossing and climbing of power transmission towers.

A connecting rod type gripper has been designed to achieve stable grasping of angle steel. Before grasping, use coordination between structures to achieve stable docking and grasping. By using the alternating movements of two claws and the middle climbing mechanism, the climbing and obstacle crossing of the angle steel were achieved.

Through a simple linkage mechanism, a climbing robot has been designed, greatly reducing the overall mass of the robot. It can also carry a load of 1 kg, and the climbing mechanism can perform stable climbing. The maximum step distance of the climbing robot is 543 mm, which can achieve the crossing of angle steel obstacles.

A transmission tower climbing mechanism was proposed by analyzing the working environment. Through the locking ability of the screw nut, stable clamping of the angle steel is achieved, and a pitch mechanism is designed to adjust the posture of the hand claw.

The purpose of this paper is to achieve optimal climbing control of the gas-insulated switchgear (GIS) robot, as the authors know that the GIS inspection robot is a kind of artificial intelligent mobile equipment which auxiliary or even substitute human labor drive on the inner wall of the gas-insulated metal enclosed switchgear. The GIS equipment fault inspection and maintenance can be realized through the robot manipulator on the mobile platform and the camera carried on the fuselage, and it is a kind of intelligent equipment for operation. To realize the inspection and operation of the GIS equipment pipeline without blind spots, the robot is required to be able to travel on any wall inside the pipeline, especially the top of the pipeline and both right and left sides of the pipeline, which requires the flexible climbing of the GIS inspection robot. The robot device has a certain adsorption function to ensure that the robot is fully attached to the wall surface. At the same time, the robot manipulator can be used for collision-free obstacle avoidance operation planning in the narrow operation space inside the GIS equipment.

The above two technologies are the key that the robot completes the GIS equipment inspections. Based on this, this paper focuses on modeling and analysis of the chassis adsorption characteristics for the GIS inspection robot. At the same time, the Denavit Hartenberg (D-H) coordinate model of the robot arm system has been established, and the kinematics forward and inverse solutions of the robot manipulator system have been derived.

The reachable working space point cloud diagram of the robot manipulator in MATLAB has been obtained based on the kinematics analysis, and the operation trajectory planning of the robot manipulator using the robot toolbox has been obtained. The simulation results show that the robot manipulator system can realize the movement without collision and obstacle avoidance. The space can cover the entire GIS pipeline so as to achieve no blind area operation.

Finally, the GIS inspection robot physical prototype system has been developed through system integration design, and the inspection, maintenance operation experiment has been carried out in the actual GIS equipment. The entire robot system can complete the GIS equipment inspection operation soundly and improve the operation efficiency. The research in this paper has important theoretical significance and practical application value for the optimization design and practical research of the GIS inspection robot system.

This pragmatic research paper aims to unravel the smart vision-based method (SVBM), an AI program to correlate the computer vision (recorded and live videos using mobile and embedded cameras) that aids in manual lifting human pose deduction, analysis and training in the construction sector.

Using a pragmatic approach combined with the literature review, this study discusses the SVBM. The research method includes a literature review followed by a pragmatic approach and lab validation of the acquired data. Adopting the practical approach, the authors of this article developed an SVBM, an AI program to correlate computer vision (recorded and live videos using mobile and embedded cameras).

Results show that SVBM observes the relevant events without additional attachments to the human body and compares them with the standard axis to identify abnormal postures using mobile and other cameras. Angles of critical nodal points are projected through human pose detection and calculating body part movement angles using a novel software program and mobile application. The SVBM demonstrates its ability to data capture and analysis in real-time and offline using videos recorded earlier and is validated for program coding and results repeatability.

Literature review methodology limitations include not keeping in phase with the most updated field knowledge. This limitation is offset by choosing the range for literature review within the last two decades. This literature review may not have captured all published articles because the restriction of database access and search was based only on English. Also, the authors may have omitted fruitful articles hiding in a less popular journal. These limitations are acknowledged. The critical limitation is that the trust, privacy and psychological issues are not addressed in SVBM, which is recognised. However, the benefits of SVBM naturally offset this limitation to being adopted practically.

The theoretical and practical implications include customised and individualistic prediction and preventing most posture-related hazardous behaviours before a critical injury happens. The theoretical implications include mimicking the human pose and lab-based analysis without attaching sensors that naturally alter the working poses. SVBM would help researchers develop more accurate data and theoretical models close to actuals.

By using SVBM, the possibility of early deduction and prevention of musculoskeletal disorders is high; the social implications include the benefits of being a healthier society and health concerned construction sector.

Human pose detection, especially joint angle calculation in a work environment, is crucial to early deduction of muscoloskeletal disorders. Conventional digital technology-based methods to detect pose flaws focus on location information from wearables and laboratory-controlled motion sensors. For the first time, this paper presents novel computer vision (recorded and live videos using mobile and embedded cameras) and digital image-related deep learning methods without attachment to the human body for manual handling pose deduction and analysis of angles, neckline and torso line in an actual construction work environment.

The purpose of this paper is to present a wall-climbing robot platform for heavy-load with negative pressure adsorption, which could be equipped with a six-degree of freedom (DOF) collaborative robot (Cobot) and detection device for inspecting the overwater part of concrete bridge towers/piers for large bridges.

By analyzing the shortcomings of existing wall-climbing robots in detecting concrete structures, a wall-climbing mobile manipulator (WCMM), which could be compatible with various detection devices, is proposed for detecting the concrete towers/piers of the Hong Kong-Zhuhai-Macao Bridge. The factors affecting the load capacity are obtained by analyzing the antislip and antioverturning conditions of the wall-climbing robot platform on the wall surface. Design strategies for each part of the structure of the wall-climbing robot are provided based on the influencing factors. By deriving the equivalent adsorption force equation, analyzed the influencing factors of equivalent adsorption force and provided schemes that could enhance the load capacity of the wall-climbing robot.

The adsorption test verifies the maximum negative pressure that the fan module could provide to the adsorption chamber. The load capacity test verifies it is feasible to achieve the expected bearing requirements of the wall-climbing robot. The motion tests prove that the developed climbing robot vehicle could move freely on the surface of the concrete structure after being equipped with a six-DOF Cobot.

The development of the heavy-load wall-climbing robot enables the Cobot to be installed and equipped on the wall-climbing robot, forming the WCMM, making them compatible with carrying various devices and expanding the application of the wall-climbing robot.

A heavy-load wall-climbing robot using negative pressure adsorption has been developed. The wall-climbing robot platform could carry a six-DOF Cobot, making it compatible with various detection devices for the inspection of concrete structures of large bridges. The WCMM could be expanded to detect the concretes with similar structures. The research and development process of the heavy-load wall-climbing robot could inspire the design of other negative-pressure wall-climbing robots.

Devices for step estimation are body-worn devices used to compute steps taken and/or distance covered by the user. Even though textiles or clothing are foremost to come to mind in terms of articles meant to be worn, their prominence among devices and systems meant for cadence is overshadowed by electronic products such as accelerometers, wristbands and smart phones. Athletes and sports enthusiasts using knee sleeves should be able to track their performances and monitor workout progress without the need to carry other devices with no direct sport utility, such as wristbands and wearable accelerometers. The purpose of this study thus is to contribute to the broad area of wearable devices for cadence application by developing a cheap but effective and efficient stride measurement system based on a knee sleeve.

A textile strain sensor is designed by weft knitting silver-plated nylon yarn together with nylon DTY and covered elastic yarn using a 1 × 1 rib structure. The area occupied by the silver-plated yarn within the structure served as the strain sensor. It worked such that, upon being subjected to stress, the electrical resistance of the sensor increases and in turn, is restored when the stress is removed. The strip with the sensor is knitted separately and subsequently sewn to the knee sleeve. The knee sleeve is then connected to a custom-made signal acquisition and processing system. A volunteer was employed for a wearer trial.

Experimental results establish that the number of strides taken by the wearer can easily be correlated to the knee flexion and extension cycles of the wearer. The number of peaks computed by the signal acquisition and processing system is therefore counted to represent stride per minute. Therefore, the sensor is able to effectively count the number of strides taken by the user per minute. The coefficient of variation of over-ground test results yielded 0.03%, and stair climbing also obtained 0.14%, an indication of very high sensor repeatability.

The study was conducted using limited number of volunteers for the wearer trials.

By embedding textile piezoresistive sensors in some specific garments and or accessories, physical activity such as gait and its related data can be effectively measured.

To the best of our knowledge, this is the first application of piezoresistive sensing in the knee sleeve for stride estimation. Also, this study establishes that it is possible to attach (sew) already-knit textile strain sensors to apparel to effectuate smart functionality.

Despite being an authentic carrier of various cultural practices, the human body is often underutilised to access the knowledge of human body. Digital inventions today have created new avenues to open up cultural data resources, yet mainly as apparatuses for well-annotated and object-based collections. Hence, there is a pressing need for empowering the representation of intangible expressions, particularly embodied knowledge within its cultural context. To address this issue, the authors propose to inspect the potential of machine learning methods to enhance archival knowledge interaction with intangible cultural heritage (ICH) materials.

This research adopts a novel approach by combining movement computing with knowledge-specific modelling to support retrieving through embodied cues, which is applied to a multimodal archive documenting the cultural heritage (CH) of Southern Chinese martial arts.

Through experimenting with a retrieval engine implemented using the Hong Kong Martial Arts Living Archive (HKMALA) datasets, this work validated the effectiveness of the developed approach in multimodal content retrieval and highlighted the potential for the multimodal's application in facilitating archival exploration and knowledge discoverability.

This work takes a knowledge-specific approach to invent an intelligent encoding approach through a deep-learning workflow. This article underlines that the convergence of algorithmic reckoning and content-centred design holds promise for transforming the paradigm of archival interaction, thereby augmenting knowledge transmission via more accessible CH materials.

This research paper aims to investigate reinforced concrete (RC) walls' behaviour under fire and identify the thermal and mechanical factors that affect their performance.

A three-dimensional (3D) finite element (FE) model is developed to predict the response of RC walls under fire and is validated through experimental tests on RC wall specimens subjected to fire conditions. The numerical model incorporates temperature-dependent properties of the constituent materials. Moreover, the validated model was used in a parametric study to inspect the effect of the fire scenario, reinforcement concrete cover, reinforcement ratio and configuration, and wall thickness on the thermal and structural behaviour of the walls subjected to fire.

The developed 3D FE model successfully predicted the response of experimentally tested RC walls under fire conditions. Results showed that the fire resistance of the walls was highly compromised under hydrocarbon fire. In addition, the minimum wall thickness specified by EC2 may not be sufficient to achieve the desired fire resistance under considered fire scenarios.

There is limited research on the performance of RC walls exposed to fire scenarios. The study contributed to the current state-of-the-art research on the behaviour of RC walls of different concrete types exposed to fire loading, and it also identified the factors affecting the fire resistance of RC walls. This guides the consideration and optimisation of design parameters to improve RC walls performance in the event of a fire.

This paper aims to analyze deeply the effect of surface roughness conditions of the common interface of the two-layered riveted cantilever beams on their frictional damping during free lateral vibration at first mode. Here, the product, (µ × α), and damping ratio, ξ, are the parameters whose variations are analyzed in this investigation. For this, the influencing parameters considered are the natural frequency of vibration, f; the amplitude of initial excitation, y; and surface roughness value, Ra.

For experimentally evaluating logarithmic damping decrement, d, the frequency response function analyzer for the case of free lateral vibrations was used. Later, for evaluating the product, µ × α (where µ is the kinematic coefficient of friction and α is the dynamic slip ratio), and then, the damping ratio, ξ, the empirical relation suggested for logarithmic damping decrement, d, of riveted cantilever beams was used. After this, the full and reduced quadratic models of the product, µ × α, ξ, response surface methodology (RSM) with the help of Design Expert 11 software was used. Corresponding main effects plots, surface plots and prediction comparison plots were obtained to observe the variations of the product, µ × α, ξ for the variations of influencing parameters: f, y and Ra. Finally, a machine learning technique such as artificial neural networks (ANNs) using “nntool” present in MATLAB R13a software was used to predict the ξ for the different combinations of f, y and Ra.

The full and reduced quadratic regression models for the product, (µ × α) and the damping ratio, ξ of riveted cantilever beams for free lateral vibrations of the first mode in terms of the parameters: f, y and Ra were obtained. In addition, the main effects plots, surface plots and prediction comparison plots for the product, µ × α, ξ, with the corresponding experimental values of the product, µ × α, ξ, were obtained. Also, the execution of ANNs using MATLAB R13a software is proved to be the more accurate tool for the prediction of damping ratios in comparison to quadratic regression equations obtained from Design Expert 11 software. In the end, the assumption that the effect of surface roughness value on the product, (µ × α), and the damping ratio, ξ, is negligible is proved to be true using the main effects plots for the product, (µ × α) and ξ obtained from the Design Expert 11 software.

Obtaining the full and reduced quadratic regression equations for the product, (µ × α), and ξ of the two-layered riveted cantilever beams in terms of parameters: f, y and Ra was done. In addition, the conditions for the corresponding minimum and maximum values of the product, (µ × α), and ξ were obtained. Later, the main effects plots, surface plots and comparison plots of the predicted product, (µ × α), and ξ versus experimental product, (µ × α), and ξ were also obtained. Finally, the predicted values of the product, (µ × α), and ξ using the ANNs tool are observed to be the more accurate values in comparison to that obtained from RSM using the Design Expert 11 software.

Recognizing construction workers' activities is critical for on-site performance and safety management. Thus, this study presents the potential of automatically recognizing construction workers' actions from activations of the erector spinae muscles.

A lab study was conducted wherein the participants (n = 10) performed rebar task, which involved placing and tying subtasks, with and without a wearable robot (exoskeleton). Trunk muscle activations for both conditions were trained with nine well-established supervised machine learning algorithms. Hold-out validation was carried out, and the performance of the models was evaluated using accuracy, precision, recall and F1 score.

Results indicate that classification models performed well for both experimental conditions with support vector machine, achieving the highest accuracy of 83.8% for the “exoskeleton” condition and 74.1% for the “without exoskeleton” condition.

The study paves the way for the development of smart wearable robotic technology which can augment itself based on the tasks performed by the construction workers.

This study contributes to the research on construction workers' action recognition using trunk muscle activity. Most of the human actions are largely performed with hands, and the advancements in ergonomic research have provided evidence for relationship between trunk muscles and the movements of hands. This relationship has not been explored for action recognition of construction workers, which is a gap in literature that this study attempts to address.

The purpose of this study is to investigate the Dynamics of micropolar – water B Fluids flow simultaneously under the influence of thermal radiation and Soret–Dufour Mechanisms.

The thermal radiation contribution, the chemical change and heat generation take fluidity into account. The flow equations are used to produce a series of dimensionless equations with appropriate nondimensional quantities. By using the spectral homotopy analysis method (SHAM), simplified dimensionless equations have been quantitatively solved. With Chebyshev pseudospectral technique, SHAM integrates the approach of the well-known method of homotopical analysis to the set of altered equations. In terms of velocity, concentration and temperature profiles, the impacts of Prandtl number, chemical reaction and thermal radiation are studied. All findings are visually shown and all physical values are calculated and tabulated.

The results indicate that an increase in the variable viscosity leads to speed and temperature increases. Based on the transport nature of micropolar Walters B fluids, the thermal conductivity has great impact on the Prandtl number and decrease the velocity and temperature. The current research was very well supported by prior literature works. The results in this paper are anticipated to be helpful for biotechnology, food processing and boiling. It is used primarily in refrigerating systems, tensile heating to large-scale heating and oil pipeline reduction.

All results are presented graphically and all physical quantities are computed and tabulated.