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This paper investigates the temporal inflow profile that minimises the total cost of travel for a single route. The problem is formulated to consider the case in which the total demand to be serviced is fixed. The approach used here is a direct calculation of the first order variation of total system cost with respect to variations in the inflow profile. Two traffic models are considered; the bottleneck with deterministic queue and the kinematic wave model. For the bottleneck model a known solution is recovered. The wave model proves more difficult and after eliminating the possibility of a smooth inflow profile the restricted case of constant inflow is solved. As the space of possible profiles is finite dimensional in this case, the standard techniques of calculus apply. We establish a pair of equations that are satisfied simultaneously by the optimal inflow and time of first departure.

To provide high torques needed to move a robot’s links, electric actuators are followed by a transmission system with a high transmission rate. For instance, gear ratios of 100:1 are often used in the joints of a robotic manipulator. This results into an actuator with large mechanical impedance (also known as nonback-drivable actuator). This in turn generates high contact forces when collision of the robotic mechanism occur and can cause humans’ injury. Another disadvantage of electric actuators is that they can exhibit overheating when constant torques have to be provided. Comparing to electric actuators, pneumatic actuators have promising properties for robotic applications, due to their low weight, simple mechanical design, low cost and good power-to-weight ratio. Electropneumatically actuated robots usually have better friction properties. Moreover, because of low mechanical impedance, pneumatic robots can provide moderate interaction forces which is important for robotic surgery and rehabilitation tasks. Pneumatic actuators are also well suited for exoskeleton robots. Actuation in exoskeletons should have a fast and accurate response. While electric motors come against high mechanical impedance and the risk of causing injuries, pneumatic actuators exhibit forces and torques which stay within moderate variation ranges. Besides, unlike direct current electric motors, pneumatic actuators have an improved weight-to-power ratio and avoid overheating problems.

The aim of this paper is to analyze a nonlinear optimal control method for electropneumatically actuated robots. A two-link robotic exoskeleton with electropneumatic actuators is considered as a case study. The associated nonlinear and multivariable state-space model is formulated and its differential flatness properties are proven. The dynamic model of the electropneumatic robot is linearized at each sampling instance with the use of first-order Taylor series expansion and through the computation of the associated Jacobian matrices. Within each sampling period, the time-varying linearization point is defined by the present value of the robot’s state vector and by the last sampled value of the control inputs vector. An H-infinity controller is designed for the linearized model of the robot aiming at solving the related optimal control problem under model uncertainties and external perturbations. An algebraic Riccati equation is solved at each time-step of the control method to obtain the stabilizing feedback gains of the H-infinity controller. Through Lyapunov stability analysis, it is proven that the robot’s control scheme satisfies the H-infinity tracking performance conditions which indicate the robustness properties of the control method. Moreover, global asymptotic stability is proven for the control loop. The method achieves fast convergence of the robot’s state variables to the associated reference trajectories, and despite strong nonlinearities in the robot’s dynamics, it keeps moderate the variations of the control inputs.

In this paper, a novel solution has been proposed for the nonlinear optimal control problem of robotic exoskeletons with electropneumatic actuators. As a case study, the dynamic model of a two-link lower-limb robotic exoskeleton with electropneumatic actuators has been considered. The dynamic model of this robotic system undergoes first approximate linearization at each iteration of the control algorithm around a temporary operating point. Within each sampling period, this linearization point is defined by the present value of the robot’s state vector and by the last sampled value of the control inputs vector. The linearization process relies on first-order Taylor series expansion and on the computation of the associated Jacobian matrices. The modeling error which is due to the truncation of higher-order terms from the Taylor series is considered to be a perturbation which is asymptotically compensated by the robustness of the control algorithm. To stabilize the dynamics of the electropneumatically actuated robot and to achieve precise tracking of reference setpoints, an H-infinity (optimal) feedback controller is designed. Actually, the proposed H-infinity controller for the model of the two-link electropneumatically actuated exoskeleton achieves the solution of the associated optimal control problem under model uncertainty and external disturbances. This controller implements a min-max differential game taking place between: (i) the control inputs which try to minimize a cost function which comprises a quadratic term of the state vector’s tracking error and (ii) the model uncertainty and perturbation inputs which try to maximize this cost function. To select the stabilizing feedback gains of this H-infinity controller, an algebraic Riccati equation is being repetitively solved at each time-step of the control method. The global stability properties of the H-infinity control scheme are proven through Lyapunov analysis.

Pneumatic actuators are characterized by high nonlinearities which are due to air compressibility, thermodynamics and valves behavior and thus pneumatic robots require elaborated nonlinear control schemes to ensure their fast and precise positioning. Among the control methods which have been applied to pneumatic robots, one can distinguish differential geometric approaches (Lie algebra-based control, differential flatness theory-based control, nonlinear model predictive control [NMPC], sliding-mode control, backstepping control and multiple models-based fuzzy control). Treating nonlinearities and fault tolerance issues in the control problem of robotic manipulators with electropneumatic actuators has been a nontrivial task.

The novelty of the proposed control method is outlined as follows: preceding results on the use of H-infinity control to nonlinear dynamical systems were limited to the case of affine-in-the-input systems with drift-only dynamics. These results considered that the control inputs gain matrix is not dependent on the values of the system’s state vector. Moreover, in these approaches the linearization was performed around points of the desirable trajectory, whereas in the present paper’s control method the linearization points are related with the value of the state vector at each sampling instance as well as with the last sampled value of the control inputs vector. The Riccati equation which has been proposed for computing the feedback gains of the controller is novel, so is the presented global stability proof through Lyapunov analysis. This paper’s scientific contribution is summarized as follows: (i) the presented nonlinear optimal control method has improved or equally satisfactory performance when compared against other nonlinear control schemes that one can consider for the dynamic model of robots with electropneumatic actuators (such as Lie algebra-based control, differential flatness theory-based control, nonlinear model-based predictive control, sliding-mode control and backstepping control), (ii) it achieves fast and accurate tracking of all reference setpoints, (iii) despite strong nonlinearities in the dynamic model of the robot, it keeps moderate the variations of the control inputs and (iv) unlike the aforementioned alternative control approaches, this paper’s method is the only one that achieves solution of the optimal control problem for electropneumatic robots.

The use of electropneumatic actuation in robots exhibits certain advantages. These can be the improved weight-to-power ratio, the lower mechanical impedance and the avoidance of overheating. At the same time, precise positioning and accurate execution of tasks by electropneumatic robots requires the application of elaborated nonlinear control methods. In this paper, a new nonlinear optimal control method has been developed for electropneumatically actuated robots and has been specifically applied to the dynamic model of a two-link robotic exoskeleton. The benefit from using this paper’s results in industrial and biomedical applications is apparent.

A comparison of the proposed nonlinear optimal (H-infinity) control method against other linear and nonlinear control schemes for electropneumatically actuated robots shows the following: (1) Unlike global linearization-based control approaches, such as Lie algebra-based control and differential flatness theory-based control, the optimal control approach does not rely on complicated transformations (diffeomorphisms) of the system’s state variables. Besides, the computed control inputs are applied directly on the initial nonlinear model of the electropneumatic robot and not on its linearized equivalent. The inverse transformations which are met in global linearization-based control are avoided and consequently one does not come against the related singularity problems. (2) Unlike model predictive control (MPC) and NMPC, the proposed control method is of proven global stability. It is known that MPC is a linear control approach that if applied to the nonlinear dynamics of the electropneumatic robot, the stability of the control loop will be lost. Besides, in NMPC the convergence of its iterative search for an optimum depends on initialization and parameter values selection and consequently the global stability of this control method cannot be always assured. (3) Unlike sliding-mode control and backstepping control, the proposed optimal control method does not require the state-space description of the system to be found in a specific form. About sliding-mode control, it is known that when the controlled system is not found in the input-output linearized form the definition of the sliding surface can be an intuitive procedure. About backstepping control, it is known that it cannot be directly applied to a dynamical system if the related state-space model is not found in the triangular (backstepping integral) form. (4) Unlike PID control, the proposed nonlinear optimal control method is of proven global stability, the selection of the controller’s parameters does not rely on a heuristic tuning procedure, and the stability of the control loop is assured in the case of changes of operating points. (5) Unlike multiple local models-based control, the nonlinear optimal control method uses only one linearization point and needs the solution of only one Riccati equation so as to compute the stabilizing feedback gains of the controller. Consequently, in terms of computation load the proposed control method for the electropneumatic actuator’s dynamics is much more efficient.

This paper aims to propose and verify an improved cascade active disturbance rejection control (ADRC) scheme based on output redefinition for hypersonic vehicles (HSVs) with nonminimum phase characteristic and model uncertainties.

To handle the nonminimum phase characteristic, a tuning factor stabilizing internal dynamics is introduced to redefine the system output states; its effective range is determined by analyzing Byrnes–Isidori normalized form of the redefined system. The extended state observers (ESOs) are used to estimate the uncertainties, which include matched and mismatched items in the system. The controller compensates observations in real time and appends integral terms to improve robustness against the estimation errors of ESOs.

Theoretical and simulation results show that the stability of internal dynamics is guaranteed by the tuning factor and the tracking errors of external commands are globally asymptotically stable.

The control scheme in this paper is expected to generate a reliable way for dealing with nonminimum phase characteristic and model uncertainties of HSVs.

In the framework of ADRC, a concise form of redefined outputs is proposed, in which the tuning factor performs a decisive role in stabilizing the internal dynamics of HSVs. By introducing an integral term into the cascade ADRC scheme, the compensation accuracy of matched and mismatched disturbances is improved.

Based on the social interaction theory and trust theory, this study investigates the switching of users on social question and answer (Q&A) platforms from knowledge seekers to knowledge contributors.

We used Python to gather data from Zhihu, performed hypothesis testing on the models using Poisson regression and finally conducted a mediation effect analysis.

The findings reveal that knowledge seeking impacts users' motivation for information interaction, emotional interaction and trust. Notably, information interaction and trust exhibit a chained mediation effect that subsequently influences knowledge contribution.

Current studies on user knowledge behavior typically examine individual actions, rarely connecting knowledge seeking and knowledge contribution. However, the balance of knowledge inflow and outflow is crucial for social Q&A platforms. To cover this gap, this paper empirically investigates the switching between knowledge seeking and knowledge contribution based on the social interaction theory and trust theory.

One of the challenges encountered in the design of guided projectiles is their prohibitive cost. To diminish it, an appropriate avenue many researchers have explored is the use of the non-actuator method for guiding the projectile to the target. In this method, biologically inspired by the flying concept of the single-winged seed, for instance, that of maple and ash trees, the projectile undergoes a helical motion to scan the region and meet the target in the descent phase. Indeed, the projectile is a decelerator device based on the autorotation flight while it attempts to resemble the seed’s motion using two wings of different spans. There exists a wealth of studies on the stability of the decelerators (e.g. the mono-wing, samara and pararotor), but all of them have assumed the body (exclusive of the wing) to be symmetric and paid no particular attention to the scanning quality of the region. In practice, however, the non-actuator-guided projectiles are asymmetric owing to the presence of detection sensors. This paper aims to present an analytical solution for stability analysis of asymmetric decelerators and apprise the effects of design parameters to improve the scanning quality.

The approach of this study is to develop a theoretical model consisting of Euler equations and apply a set of non-dimensionalized equations to reduce the number of involved parameters. The obtained governing equations are readily applicable to other decelerator devices, such as the mono-wing, samara and pararotor.

The results show that the stability of the body can be preserved under certain conditions. Moreover, pertinent conclusions are outlined on the sensitivity of flight behavior to the variation of design parameters.

The analytical solution and sensitivity analysis presented here can efficiently reduce the design cost of the asymmetric decelerator.

The importance of service firms cooperating with digital platforms is widely acknowledged. The authors study three contractual relationships (fixed-cost, cost-sharing, and profit-sharing) between service firms (specifically hotels) and digital platforms in a highly fragmented service supply chain to examine which of these contract types optimizes profits.

The authors extend prior models analyzing the optimal expected total profit from the travel service firm (hotel)–digital platform relationship, providing new insights into each contract type’s ability to coordinate decentralized systems and optimize profits for both parties.

This study finds that fixed cost contracts cannot coordinate the decentralized system. Cost-sharing contracts can coordinate the decentralized system but only allow one channel profit split. In contrast, profit-sharing contracts may not always perfectly coordinate the decentralized system but support alternative profit allocations. Practically, both profit-sharing and cost-sharing contracts are preferable to fixed-cost contracts.

The paper includes implications for travel service firm managers to consider when structuring contracts with digital platforms to focus on profit optimization. Profit-sharing contracts are most preferable when cost and revenue data are fully shared between parties, while cost-sharing contracts are preferable over fixed-cost contracts.

This study extends prior investigations into the utility of different contract types on the optimal profit of a travel service firm (hotel)-digital platform provider relationship. The research fills a gap in the literature concerning the contracts used in these relationship types.

The purpose of this study is to explore the impact of online reviews on answer adoption in virtual Q&A communities, with an eye toward extending knowledge exchange and community management.

Online reviews contain rich cognitive and emotional information about community members regarding the provided answers. As feedback information on answers, it is crucial to explore how online reviews affect answer adoption. Based on signaling theory, a research model reflecting the influence of online reviews on answer adoption is established and empirically examined by using secondary data with 69,597 Q&A data and user data collected from Zhihu. Meanwhile, the moderating effects of the informational and emotional consistency of reviews and answers are examined.

The negative binomial regression results show that both answer-related signals (informational support and emotional support) and answerers-related signals (answerers’ reputations and expertise) positively impact answer adoption. The informational consistency of reviews and answers negatively moderates the relationships among information support, emotional support and answer adoption but positively moderates the effect of answerers’ expertise on answer adoption. Furthermore, the emotional consistency of reviews and answers positively moderates the effect of information support and answerers’ reputations on answer adoption.

Although previous studies have investigated the impacts of answer content, answer source credibility and personal characteristics of knowledge seekers on answer adoption in virtual Q&A communities, few have examined the impact of online reviews on answer adoption. This study explores the impacts of informational and emotional feedback in online reviews on answer adoption from a signaling theory perspective. The results not only provide unique ideas for community managers to optimize community design and operation but also inspire community users to provide or utilize knowledge, thereby reducing knowledge search costs and improving knowledge exchange efficiency.

The research aims to develop an assessment framework that evaluates critical success factors (CSFs) for the Quality 4.0 (Q 4.0) transition among Indian firms.

The authors use the fuzzy-Delphi method to validate the results of a systematic literature review (SLR) that explores critical aspects. Further, the fuzzy decision-making trial and laboratory (DEMATEL) method determines the cause-and-effect link. The findings indicate that developing a Q 4.0 framework is essential for the long-term success of manufacturing companies. Utilizing the power of digital technology, data analytics and automation, manufacturing companies can benefit from the Q 4.0 framework. Product quality, operational effectiveness and overall business performance may all be enhanced by implementing the Q 4.0 transition framework.

The study highlights significant awareness of Q 4.0 in the Indian manufacturing sector that is acquired through various means such as training, experience, learning and research. However, most manufacturing industries in India still follow older quality paradigms. On the other hand, Indian manufacturing industries seem well-equipped to adopt Q 4.0, given practitioners' firm grasp of its concepts and anticipated benefits, including improved customer satisfaction, product refinement, continuous process enhancement, waste reduction and informed decision-making. Adoption hurdles involve challenges including reliable electricity access, high-speed Internet, infrastructure, a skilled workforce and financial support. The study also introduces a transition framework facilitating the shift from conventional methods to Q 4.0, aligned with the principles of the Fourth Industrial Revolution (IR).

This research exclusively examines the manufacturing sector, neglecting other fields such as medical, service, mining and construction. Additionally, there needs to be more emphasis on the Q 4.0 implementation frameworks within the scope of the study.

This may be the inaugural framework for transitioning to Q 4.0 in India's manufacturing sectors and, conceivably, other developing nations.

In this paper, improvements in reducing transmitted accelerations in a full vehicle are obtained by optimizing the gain parameters of an active control in a roughness road profile.

For a classically designed linear quadratic regulator (LQR) control, the vibration attenuation performance will depend on weighting matrices Q and R. A methodology is proposed in this work to determine the optimal elements of these matrices by using a genetic algorithm method to get enhanced controller performance. The active control is implemented in an eight degrees of freedom (8-DOF) vehicle suspension model, subjected to a standard ISO road profile. The control performance is compared against a controlled system with few Q and R parameters, an active system without optimized gain matrices, and an optimized passive system.

The control with 12 optimized parameters for Q and R provided the best vibration attenuation, reducing significantly the Root Mean Square (RMS) accelerations at the driver’s seat and car body.

The research has positive implications in a wide class of active control systems, especially those based on a LQR, which was verified by the multibody dynamic systems tested in the paper.

Better active control gains can be devised to improve performance in vibration attenuation.

The main contribution proposed in this work is the improvement of the Q and R parameters simultaneously, in a full 8-DOF vehicle model, which minimizes the driver’s seat acceleration and, at the same time, guarantees vehicle safety.

The authors propose a rather elementary method to compute a family of integrals on the half line, involving positive powers of sin x and negative powers of x, depending on the integer parameters n≥q≥1.

Combinatorics, sine and cosine integral functions.

The authors prove an explicit formula to evaluate sinc-type integrals.

The proof is not present in the current literature, and it could be of interest for a large audience.