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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.

In complex environments, a spherical robot has great application value. When the pendulum spherical robot is stopped or disturbed, there will be a periodic oscillation. This situation will seriously affect the stability of the spherical robot. Therefore, this paper aims to propose a control method based on backstepping and disturbance observers for oscillation suppression.

This paper analyzes the mechanism of oscillation. The oscillation model of the spherical robot is constructed and the relationship between the oscillation and the internal structure of the sphere is analyzed. Based on the oscillation model, the authors design the oscillation suppression control of the spherical robot using the backstepping method. At the same time, a disturbance observer is added to suppress the disturbance.

It is found that the control system based on backstepping and disturbance observer is simple and efficient for nonlinear models. Compared with the PID controller commonly used in engineering, this control method has a better control effect.

The proposed method can provide a reliable and effective stability scheme for spherical robots. The problem of instability in real motion is solved.

In this paper, the oscillation model of a spherical robot is innovatively constructed. Second, a new backstepping control method combined with a disturbance observer for the spherical robot is proposed to suppress the oscillation.

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.

In pursuit of affordable and nutrient-rich food alternatives, the symbiotic culture of bacteria and yeast (SCOBY) emerged as a selected food ink for 3D printing. The purpose of this paper is to harness SCOBY’s potential to create cost-effective and nourishing food options using the innovative technique of 3D printing.

This work presents a comparative analysis of the printability of SCOBY with blends of wheat flour, with a focus on the optimization of process variables such as printing composition, nozzle height, nozzle diameter, printing speed, extrusion motor speed and extrusion rate. Extensive research was carried out to explore the diverse physical, mechanical and rheological properties of food ink.

Among the ratios tested, SCOBY, with SCOBY:wheat flour ratio at 1:0.33 exhibited the highest precision and layer definition when 3D printed at 50 and 60 mm/s printing speeds, 180 rpm motor speed and 0.8 mm nozzle with a 0.005 cm³/s extrusion rate, with minimum alteration in colour.

Food layered manufacturing (FLM) is a novel concept that uses a specialized printer to fabricate edible objects by layering edible materials, such as chocolate, confectionaries and pureed fruits and vegetables. FLM is a disruptive technology that enables the creation of personalized and texture-tailored foods, incorporating desired nutritional values and food quality, using a variety of ingredients and additions. This research highlights the potential of SCOBY as a viable material for 3D food printing applications.

This study aims to focus on sustainable supplier selection in a construction company considering a new multi-criteria decision-making (MCDM) method based on dominance-based rough set analysis. The inclusion of sustainability concept in industrial supply chains has started gaining momentum due to increased environmental protection awareness and social obligations. The selection of sustainable suppliers marks the first step toward accomplishing this objective. The problem of selecting the right suppliers fulfilling the sustainable requirements is a major MCDM problem since various conflicting factors are underplay in the selection process. The decision-makers are often confronted with inconsistent situations forcing them to make imprecise and vague decisions.

This paper presents a new method based on dominance-based rough sets for the selection of right suppliers based on sustainable performance criteria relying on the triple bottom line approach. The method applied has its distinct advantages by providing more transparency in dealing with the preference information provided by the decision-makers and is thus found to be more intuitive and appealing as a performance measurement tool.

The technique is easy to apply using “jrank” software package and devises results in the form of decision rules and ranking that further assist the decision-makers in making an informed decision that increases credibility in the decision-making process.

The novelty of this study of its kind is that uses the dominance-based rough set approach for a sustainable supplier selection process.

The present work involves analytical and experimental investigation of sloshing in a two-dimensional rectangular tank including the effect of porous baffles to control and/or reduce the wave motion in the sloshing tank. The purpose of this study is to assess the analytical solutions of the drag coefficient effect on porous baffles performance to track free surface motion variation in the sloshing tank by comparison with experimental shake table tests under a range of sway excitation.

The linear second-order ordinary differential equations for liquid sloshing in the rectangular tank were solved using Newmark’s beta method and obtained the analytical solutions for liquid sloshing with dual vertical porous baffles of full submergence depths in a sway-oscillated rectangular tank following the methodology similar to Warnitchai and Pinkaew (1998) and Tait (2008).

The porous baffles significantly reduce wave elevation in the varying filled levels of the tank compared to the baffle-free tank under the range of excitation frequencies. It is observed that the Reynolds number-dependent drag coefficient for porous baffles in the tank can significantly reduce the sloshing elevations and is found to be effective to achieve higher damping compared to the porosity-dependent drag coefficient for porous baffles in the sloshing tank. The analytical model’s response to free surface elevation variations in the sloshing tank was compared with the experiment’s test results. The analytical results matched with shake table test results with a quantitative difference near the first resonant frequency.

The scope of the study is limited to porous baffles performance under range sway motion and three different filling levels in the tank. The porous baffle performance includes Reynolds number dependent drag coefficient to explore the damping effect in the sloshing tank.

The porous baffles with low-level porosities in the sloshing tank have many engineering applications where the first resonant mode of sloshing in the tank is more important. The porous baffle drag coefficient is an important parameter to study the baffle’s damping effect in sloshing tanks. Hence, obtained analytical solution for liquid sloshing in the rectangular tank with Reynolds number as well as porosity-dependent drag coefficient (model 1) and porosity-dependent drag coefficient porous baffles (model 2) performance is discussed. The model’s test results were validated using a series of shake table sloshing experiments for three fill levels in the tank with sway motion at various excitation frequencies covering the first four sloshing resonant modes.

This paper focuses on the application of a robotic technique for modeling a three-wheeled mobile robot (WMR), considering it as a multibody polyarticulated system. Then the dynamic behavior of the developed model is verified using a physical model obtained by Simscape Multibody.

Firstly, a geometric model is developed using the modified Denavit–Hartenberg method. Then the dynamic model is derived using the algorithm of Newton–Euler. The developed model is performed for a three-wheeled differentially driven robot, which incorporates the slippage of wheels by including the Kiencke tire model to take into account the interaction of wheels with the ground. For the physical model, the mobile robot is designed using Solidworks. Then it is exported to Matlab using Simscape Multibody. The control of the WMR for both models is realized using Matlab/Simulink and aims to ensure efficient tracking of the desired trajectory.

Simulation results show a good similarity between the two models and verify both longitudinal and lateral behaviors of the WMR. This demonstrates the effectiveness of the developed model using the robotic approach and proves that it is sufficiently precise for the design of control schemes.

The motivation to adopt this robotic approach compared to conventional methods is the fact that it makes it possible to obtain models with a reduced number of operations. Furthermore, it allows the facility of implementation by numerical or symbolical programming. This work serves as a reference link for extending this methodology to other types of mobile robots.

Near-fault pulse-like ground motions have distinct and very severe effects on reinforced concrete (RC) structures. However, there is a paucity of recorded data from Near-Fault Ground Motions (NFGMs), and thus forecasting the dynamic seismic response of structures, using conventional techniques, under such intense ground motions has remained a challenge.

The present study utilizes a 2D finite element model of an RC structure subjected to near-fault pulse-like ground motions with a focus on the storey drift ratio (SDR) as the key demand parameter. Five machine learning classifiers (MLCs), namely decision tree, k-nearest neighbor, random forest, support vector machine and Naïve Bayes classifier , were evaluated to classify the damage states of the RC structure.

The results such as confusion matrix, accuracy and mean square error indicate that the Naïve Bayes classifier model outperforms other MLCs with 80.0% accuracy. Furthermore, three MLC models with accuracy greater than 75% were trained using a voting classifier to enhance the performance score of the models. Finally, a sensitivity analysis was performed to evaluate the model's resilience and dependability.

The objective of the current study is to predict the nonlinear storey drift demand for low-rise RC structures using machine learning techniques, instead of labor-intensive nonlinear dynamic analysis.

This study aims to propose an aerodynamic force decomposition which, for the first time, allows for thrust/drag bookkeeping in two-dimensional viscous and unsteady flows. Lamb vector-based far-field methods are used at the scope, and the paper starts with extending recent steady compressible formulas to the unsteady regime.

Exact vortical force formulas are derived considering inertial or non-inertial frames, viscous or inviscid flows, fixed or moving bodies. Numerical applications to a NACA0012 airfoil oscillating in pure plunging motion are illustrated, considering subsonic and transonic flow regimes. The total force accuracy and sensitivity to the control volume size is first analysed, then the axial force is decomposed and results are compared to the inviscid force (thrust) and to the steady force (drag).

Two total axial force decompositions in thrust and drag contributions are proposed, providing satisfactory results. An additional force decomposition is also formulated, which is independent of the arbitrary pole appearing in vortical formulas. Numerical inaccuracies encountered in inertial reference frames are eliminated, and the extended formulation also allows obtaining an accurate force prediction in presence of shock waves.

No thrust/drag bookkeeping methodology was actually available for oscillating airfoils in viscous and compressible flows.

In response to the challenge of reduced efficiency or failure of robot motion planning algorithms when faced with end-effector constraints, this study aims to propose a new constraint method to improve the performance of the sampling-based planner.

In this work, a constraint method (TC method) based on the idea of cross-sampling is proposed. This method uses the tangent space in the workspace to approximate the constrained manifold pattern and projects the entire sampling process into the workspace for constraint correction. This method avoids the need for extensive computational work involving multiple iterations of the Jacobi inverse matrix in the configuration space and retains the sampling properties of the sampling-based algorithm.

Simulation results demonstrate that the performance of the planner when using the TC method under the end-effector constraint surpasses that of other methods. Physical experiments further confirm that the TC-Planner does not cause excessive constraint errors that might lead to task failure. Moreover, field tests conducted on robots underscore the effectiveness of the TC-Planner, and its excellent performance, thereby advancing the autonomy of robots in power-line connection tasks.

This paper proposes a new constraint method combined with the rapid-exploring random trees algorithm to generate collision-free trajectories that satisfy the constraints for a high-dimensional robotic system under end-effector constraints. In a series of simulation and experimental tests, the planner using the TC method under end-effector constraints efficiently performs. Tests on a power distribution live-line operation robot also show that the TC method can greatly aid the robot in completing operation tasks with end-effector constraints. This helps robots to perform tasks with complex end-effector constraints such as grinding and welding more efficiently and autonomously.