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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.

The paper presents a mathematical problem involving quasistatic contact between a thermo-electro-viscoelastic body and a lubricated foundation, where the contact is described using a version of Coulomb’s law of friction that includes normal damped response conditions and heat exchange with a conductive foundation. The constitutive law for the material is thermo-electro-viscoelastic. The problem is formulated as a system that includes a parabolic equation of the first kind for the temperature, an evolutionary elliptic quasivariational inequality for the displacement and a variational elliptic equality for the electric stress. The author establishes the existence of a unique weak solution to the problem by utilizing classical results for evolutionary quasivariational elliptic inequalities, parabolic differential equations and fixed point arguments.

The author establishes a variational formulation for the model and proves the existence of a unique weak solution to the problem using classical results for evolutionary quasivariational elliptic inequalities, parabolic difierential equations and fixed point arguments.

The author proves the existence of a unique weak solution to the problem using classical results for evolutionary quasivariational elliptic inequalities, parabolic difierential equations and fixed point arguments.

The author studies a mathematical problem between a thermo-electro-viscoelastic body and a lubricated foundation using a version of Coulomb’s law of friction including the normal damped response conditions and the heat exchange with a conductive foundation, which is original and requires a good understanding of modeling and mathematical tools.

The purpose of this study is to investigate the effects of entropy generation of some embedded thermophysical properties on heat and mass transfer of pulsatile flow of non-Newtonian nanofluid flows between two porous parallel plates in the presence of Lorentz force are taken into account in this research.

The governing partial differential equations (PDEs) were nondimensionalized using suitable nondimensional quantities to transform the PDEs into a system of coupled nonlinear PDEs. The resulting equations are solved using the spectral relaxation method due to the effectiveness and accuracy of the method. The obtained velocity and temperature profiles are used to compute the entropy generation rate and Bejan number. The influence of various flow parameters on the velocity, temperature, entropy generation rate and Bejan number are discussed graphically.

The results indicate that the energy losses can be minimized in the system by choosing appropriate values for pertinent parameters; when thermal conductivity is increasing, this leads to the depreciation of entropy generation, and while this increment in thermal conductivity appreciates the Bejan number, the Eckert number on entropy generation and Bejan number, the graph shows that each time of increase in Eckert will lead to rising of entropy generation while this increase shows a reduction in Bejan number. To shed more light, these results were further demonstrated graphically. The current research was very well supported by prior literature works.

All results are presented graphically, and the results in this article are anticipated to be helpful in the area of engineering.

The study aims to optimize truck routes by minimizing social and economic costs. It introduces a strategy involving diverse drones and their potential for reusing at DNs based on flight range. In HTDRP-DC, trucks can select and transport various drones to LDs to reduce deprivation time. This study estimates the nonlinear deprivation cost function using a linear two-piece-wise function, leading to MILP formulations. A heuristic-based Benders Decomposition approach is implemented to address medium and large instances. Valid inequalities and a heuristic method enhance convergence boundaries, ensuring an efficient solution methodology.

Research has yet to address critical factors in disaster logistics: minimizing the social and economic costs simultaneously and using drones in relief distribution; deprivation as a social cost measures the human suffering from a shortage of relief supplies. The proposed hybrid truck-drone routing problem minimizing deprivation cost (HTDRP-DC) involves distributing relief supplies to dispersed demand nodes with undamaged (LDs) or damaged (DNs) access roads, utilizing multiple trucks and diverse drones. A Benders Decomposition approach is enhanced by accelerating techniques.

Incorporating deprivation and economic costs results in selecting optimal routes, effectively reducing the time required to assist affected areas. Additionally, employing various drone types and their reuse in damaged nodes reduces deprivation time and associated deprivation costs. The study employs valid inequalities and the heuristic method to solve the master problem, substantially reducing computational time and iterations compared to GAMS and classical Benders Decomposition Algorithm. The proposed heuristic-based Benders Decomposition approach is applied to a disaster in Tehran, demonstrating efficient solutions for the HTDRP-DC regarding computational time and convergence rate.

Current research introduces an HTDRP-DC problem that addresses minimizing deprivation costs considering the vehicle’s arrival time as the deprivation time, offering a unique solution to optimize route selection in relief distribution. Furthermore, integrating heuristic methods and valid inequalities into the Benders Decomposition approach enhances its effectiveness in solving complex routing challenges in disaster scenarios.

Limited by the types of sensors, the state information available for musculoskeletal robots with highly redundant, nonlinear muscles is often incomplete, which makes the control face a bottleneck problem. The aim of this paper is to design a method to improve the motion performance of musculoskeletal robots in partially observable scenarios, and to leverage the ontology knowledge to enhance the algorithm’s adaptability to musculoskeletal robots that have undergone changes.

A memory and attention-based reinforcement learning method is proposed for musculoskeletal robots with prior knowledge of muscle synergies. First, to deal with partially observed states available to musculoskeletal robots, a memory and attention-based network architecture is proposed for inferring more sufficient and intrinsic states. Second, inspired by muscle synergy hypothesis in neuroscience, prior knowledge of a musculoskeletal robot’s muscle synergies is embedded in network structure and reward shaping.

Based on systematic validation, it is found that the proposed method demonstrates superiority over the traditional twin delayed deep deterministic policy gradients (TD3) algorithm. A musculoskeletal robot with highly redundant, nonlinear muscles is adopted to implement goal-directed tasks. In the case of 21-dimensional states, the learning efficiency and accuracy are significantly improved compared with the traditional TD3 algorithm; in the case of 13-dimensional states without velocities and information from the end effector, the traditional TD3 is unable to complete the reaching tasks, while the proposed method breaks through this bottleneck problem.

In this paper, a novel memory and attention-based reinforcement learning method with prior knowledge of muscle synergies is proposed for musculoskeletal robots to deal with partially observable scenarios. Compared with the existing methods, the proposed method effectively improves the performance. Furthermore, this paper promotes the fusion of neuroscience and robotics.

The purpose of this study is to explore numerical scrutinization of micropolar and Walters-B non-Newtonian fluids motion under the influence of thermal radiation and chemical reaction.

The two fluids micropolar and Walters-B liquid are considered to start flowing from the slot to the stretching sheet. A magnetic field of constant strength is imposed on their flow transversely. The problems on heat and mass transport are set up with thermal, chemical reaction, heat generation, etc. to form partial differential equations. These equations were simplified into a dimensionless form and solved using spectral homotopy analysis method (SHAM). SHAM uses the basic concept of both Chebyshev pseudospectral method and homotopy analysis method to obtain numerical computations of the problem.

The outcomes for encountered flow parameters for temperature, velocity and concentration are presented with the aid of figures. It is observed that both the velocity and angular velocity of micropolar and Walters-B and thermal boundary layers increase with increase in the thermal radiation parameter. The decrease in velocity and decrease in angular velocity occurred are a result of increase in chemical reaction. It is hoped that the present study will enhance the understanding of boundary layer flow of micropolar and Walters-B non-Newtonian fluid under the influences of thermal radiation, thermal conductivity and chemical reaction as applied in various engineering processes.

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

In the process of building the “Belt and Road” and “Bright Road” community of interests between China and Kazakhstan, this paper proposes the construction of an inland nuclear power plant in Kazakhstan. Considering the uncertainty of investment in nuclear power generation, the authors propose the MGT (Monte-Carlo and Gaussian Radial Basis with Tensor factorization) utility evaluation model to evaluate the risk of investment in nuclear power in Kazakhstan and provide a relevant reference for decision making on inland nuclear investment in Kazakhstan.

Based on real options portfolio combined with a weighted utility function, this study takes into account the uncertainties associated with nuclear power investments through a minimum variance Monte Carlo approach, proposes a noise-enhancing process combined with geometric Brownian motion in solving complex conditions, and incorporates a measure of investment flexibility and strategic value in the investment, and then uses a deep noise reduction encoder to learn the initial values for potential features of cost and investment effectiveness. A Gaussian radial basis function used to construct a weighted utility function for each uncertainty, generate a minimization of the objective function for the tensor decomposition, and then optimize the objective loss function for the tensor decomposition, find the corresponding weights, and perform noise reduction to generalize the nonlinear problem to evaluate the effectiveness of nuclear power investment. Finally, the two dimensions of cost and risk (estimation of investment value and measurement of investment risk) are applied and simulated through actual data in Kazakhstan.

The authors assess the core indicators of Kazakhstan's nuclear power plants throughout their construction and operating cycles, based on data relating to a cluster of nuclear power plants of 10 different technologies. The authors compared it with several popular methods for evaluating the benefits of nuclear power generation and conducted subsequent sensitivity analyses of key indicators. Experimental results on the dataset show that the MGT method outperforms the other four methods and that changes in nuclear investment returns are more sensitive to changes in costs while operating cash flows from nuclear power are certainly an effective way to drive investment reform in inland nuclear power generation in Kazakhstan at current levels of investment costs.

Future research could consider exploring other excellent methods to improve the accuracy of the investment prediction further using sparseness and noise interference. Also consider collecting some expert advice and providing more appropriate specific suggestions, which will facilitate the application in practice.

The Novel Coronavirus epidemic has plunged the global economy into a deep recession, the tension between China and the US has made the energy cooperation road unusually tortuous, Kazakhstan in Central Asia has natural geographical and resource advantages, so China–Kazakhstan energy cooperation as a new era of opportunity, providing a strong guarantee for China's political and economic stability. The basic idea of building large-scale nuclear power plants in Balkhash and Aktau is put forward, considering the development strategy of building Kazakhstan into a regional international energy base. This work will be a good inspiration for the investment of nuclear generation.

This study solves the problem of increasing noise by combining Monte Carlo simulation with geometric Brownian motion under complex conditions, adds the measure of investment flexibility and strategic value, constructs the utility function of noise reduction weight based on Gaussian radial basis function and extends the nonlinear problem to the evaluation of nuclear power investment benefit.

Based on the weak seismic performance and low ductility of coupled shear walls, engineered cementitious composites (ECC) is utilized to strengthen it to solve the deformation problem in tall buildings more effectively and study its mechanical properties more deeply.

The properties of reinforced concrete coupled shear wall (RCCSW) and reinforced ECC coupled shear wall (RECSW) have been studied by numerical simulation, which is in good agreement with the experimental results. The reliability of the finite element model is verified. On this basis, a detailed parameter study is carried out, including the strength and reinforcement ratio of longitudinal rebar, the placement height of ECC in the wall limb and the position of ECC connecting beams. The study indexes include failure mode and the skeleton curve.

The results suggest that the bearing capacity of RECSW is significantly affected by the ratio of longitudinal rebar. When the ratio of longitudinal rebar increases from 0.47% to 3.35%, the bearing capacity of RECSW increases from 250 kN to 303 kN, an increase of 21%. The strength of longitudinal rebar has little influence on the bearing capacity of RECSW. When the strength of the longitudinal rebar increases, the bearing capacity of RECSW increases little. The failure mode of RECSW can be improved by lowering the casting height of the ECC beam in a certain range.

In this paper, ECC is used to strengthen the coupled shear wall, and the accuracy of the finite element model is verified from the failure mode and skeleton curve. On this basis, the casting height of the ECC casting wall limb, the strength and reinforcement ratio of longitudinal rebar and the position of the ECC beam are studied in detail.

The purpose of this conceptual paper is to explore the role of strategic leadership under conditions of uncertainty and unpredictability. The authors argue that highly improbable, but high-impact events require the upper echelons of management, traditionally the custodians of strategy formulation to offer a new kind of strategic leadership focused on new mindsets, organizational capabilities, more in tune with high uncertainty and unpredictability.

Drawing on strategic leadership, and complexity leadership theory, the authors review the literature and present a conceptual framework for exploring the nature of strategic leadership under uncertainty. The authors conceptualize organizations as complex adaptive systems and discuss the imperatives for developing new mental models for emergent leadership.

Strategic leaders have a key role to play in preparing their organizations for episodic disruptions. These include developing their adaptive capabilities and building resilient organizations to ensure their organizations cannot only bounce back after a disruption but have the capacity for transformation to new fitness levels when necessary. Strategic leaders must engage with complexity leadership by seeing their organizations as complex adaptive systems, reconfigure their leadership approaches and organizations to build strategic adaptive capability.

This is a conceptual paper and the authors cannot make any claims of causality.

Organizational leaders need to reconfigure their mental models and leadership approaches to reflect the new normal of uncertainty and unpredictability. Developing the strategic adaptive capability of organizations should prepare them for dealing with high impact events. To assure business continuity in the face of disruptions requires building flexible, adaptable business models.

The paper focuses on how managers can offer strategic leadership for a new normal that challenges some of our most cherished leadership and strategic management paradigms. The authors explore the new mental models and leadership models in an era of great uncertainty.

The purpose of this study is to solve two unique but difficult partial differential equations: the foam drainage equation and the nonlinear time-fractional fisher’s equation. Through our methods, we aim to provide accurate solutions and gain a deeper understanding of the intricate behaviors exhibited by these systems.

In this study, we use a dual technique that combines the Aboodh residual power series method and the Aboodh transform iteration method, both of which are combined with the Caputo operator.

We develop exact and efficient solutions by merging these unique methodologies. Our results, presented through illustrative figures and data, demonstrate the efficacy and versatility of the Aboodh methods in tackling such complex mathematical models.

Owing to their fractional derivatives and nonlinear behavior, these equations are crucial in modeling complex processes and confront analytical complications in various scientific and engineering contexts.