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The purpose of this paper is to develop a dual peg-in-hole insertion strategy. Dual peg-in-hole insertion is the most common task in manufacturing. Most of the previous work develop the insertion strategy in a two- or three-dimensional space, in which they suppose the initial yaw angle is zero and only concern the roll and pitch angles. However, in some case, the yaw angle could not be ignored due to the pose uncertainty of the peg on the gripper. Therefore, there is a need to design the insertion strategy in a higher-dimensional configuration space.

In this paper, the authors handle the insertion problem by converting it into several sub-problems based on the attractive region formed by the constraints. The existence of the attractive region in the high-dimensional configuration space is first discussed. Then, the construction of the high-dimensional attractive region with its sub-attractive region in the low-dimensional space is proposed. Therefore, the robotic insertion strategy can be designed in the subspace to eliminate some uncertainties between the dual pegs and dual holes.

Dual peg-in-hole insertion is realized without using of force sensors. The proposed strategy is also used to demonstrate the precision dual peg-in-hole insertion, where the clearance between the dual-peg and dual-hole is about 0.02 mm.

The sensor-less insertion strategy will not increase the cost of the assembly system and also can be used in the dual peg-in-hole insertion.

The theoretical and experimental analyses for dual peg-in-hole insertion are proposed without using of force sensor.

The advancement of digital maturity at a business level has proven to be challenging, with limited time, resources and skills in extracting and mapping business processes. In order to advance digitalization, the mapping of all business activities is essential. To close this gap, this research is aimed at enabling the operational level extraction and classification of business activities using a graphical methodology. This objective is accomplished through the development of a digital tool that leverages Software Development Life Cycle (SDLC) principles.

This research is focused on facilitating rapid extraction of business activities with the adoption of a graphical methodology. Business activities are captured through a digital tool in a structured, interlinked and hierarchical manner.

Notably, this work is novel as it introduces a new graphical tool to replace traditional tools in the domain of Business Process Mapping (BPM). This graphical tool is distinguished by a unique feature; that is a self-configuring database with the flexibility to capture all process options, providing innovative solutions to the challenges faced in digitalizing business processes.

This work is original in that a new graphical interface is developed to replace traditional tools in the space of BP data gathering. The unique challenge of an auto configuring database with flexibility to capture all process options is presented.

The blockchain-based digital twin has been recognized as a prominent technological ecosystem featuring synergies with both established and emergent information management practice. The purpose of this research is to explore the applicability, interoperability and integrability of a blockchain-based digital twin for asset life cycle management and develop a model of framework which positions the digital twin within a broader context of current management practice and technological availability.

A systematic literature review was performed to map use cases of digital twin, IoT, blockchain and smart contract technologies. Surveys of industry professionals and analyses were conducted focussing on the mapped use cases' life cycle–centric applicability, interoperability and integrability with current asset life cycle management practice, exploring decision support capabilities and industry insights. Lastly, a model of framework was developed based on the use case, interoperability and integrability findings.

The results support approaching digitization initiatives with blockchain-based digital twins and the positioning of the concept as both a strategic tool and a multifunctional on-field support application. Integrability enablers include progression towards BIM level 3, decentralized program hubs, modular cross-technological platform interfaces, as well as mergeable and scalable blockchains.

Knowledge of use cases help highlight the functionality of an integrated technological ecosystem and its connection to comprehensive sets of asset life cycle management aspects. Exploring integrability enablers contribute to the development of management practice and solution development as user expectations and technological prerequisites are interlinked.

The research explores asset life cycle management use cases, interoperability and integrability enablers of blockchain-based digital twins and positions the technological ecosystem within current practice and technological availability.