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In response to the issue of traditional algorithms often falling into local minima or failing to find feasible solutions in manipulator path planning. The purpose of this paper is to propose a 3D artificial moment method (3D-AMM) for obstacle avoidance for the robotic arm's end-effector.

A new method for constructing temporary attractive points in 3D has been introduced using the vector triple product approach, which generates the attractive moments that attract the end-effector to move toward it. Second, distance weight factorization and spatial projection methods are introduced to improve the solution of repulsive moments in multiobstacle scenarios. Third, a novel motion vector-solving mechanism is proposed to provide nonzero velocity for the end-effector to solve the problem of limiting the solution of the motion vector to a fixed coordinate plane due to dimensionality constraints.

A comparative analysis was conducted between the proposed algorithm and the existing methods, the improved artificial potential field method and the rapidly-random tree method under identical simulation conditions. The results indicate that the 3D-AMM method successfully plans paths with smoother trajectories and reduces the path length by 20.03% to 36.9%. Additionally, the experimental comparison outcomes affirm the feasibility and effectiveness of this method for obstacle avoidance in industrial scenarios.

This paper proposes a 3D-AMM algorithm for manipulator path planning in Cartesian space with multiple obstacles. This method effectively solves the problem of the artificial potential field method easily falling into local minimum points and the low path planning success rate of the rapidly-exploring random tree method.

This paper aims to develop a new 3D analytical model in cylindrical coordinates to study radial flux eddy current couplers (RFECC) while considering the magnetic edge and 3D curvature effects, and the field reaction due to the induced currents.

The analytical model is developed by combining two formulations. A magnetic scalar potential formulation in the air and the magnets regions and a current density formulation in the conductive region. The magnetic field and eddy currents expressions are obtained by solving the 3D Maxwell equations in 3D cylindrical coordinates with the variable separation method. The torque expression is derived from the field solution using the Maxwell stress tensor. In addition to 3D magnetic edge effects, the proposed model takes into account the reaction field effect due to the induced currents in the conducting part. To show the accuracy of the developed 3D analytical model, its results are compared to those from the 3D finite element simulation.

The obtained results prove the accuracy of the new developed 3D analytical model. The comparison of the 3D analytical model with the 2D simulation proves the strong magnetic edge effects impact (in the axial direction) in these devices which must be considered in the modelling. The new analytical model allows the magnetic edge effects consideration without any correction factor and also presents a good compromise between precision and computation time.

The proposed 3D analytical model presents a considerably reduced computation time compared to 3D finite element simulation which makes it efficient as an accurate design and optimization tool for radial flux eddy current devices.

A new analytical model in 3D cylindrical coordinates has been developed to find the electromagnetic torque in radial flux eddy current couplers. This model considers the magnetic edge effects, the 3D curvature effects and the field reaction (without correction factors) while improving the computation time.

Intelligent new energy vehicles (INEVs) are becoming the competitive hotspot for the automobile industry. The major purpose of this study is to determine how to increase innovation efficiency through knowledge sharing and technology spill between new energy vehicle (NEV) enterprises and technology enterprises. This will help to improve the core competence of the automobile industry in China. Also, it serves as a guide for the growth of other strategic.

The authors construct a tripartite evolutionary game model to study the cross-border cooperative innovation problem. Firstly, the payment matrix of NEV enterprise, technology enterprise and government is established, and the expected revenue of each participant is determined. Then, the replication dynamic equations and evolutionary stability strategies are analyzed. Finally, the theoretical research is validated through numerical simulation.

Results showed that: (1) An optimal range of revenue distribution coefficient exists in the cross-border cooperation. (2) Factors like research and development (R&D) success rate, subsidies, resource and technology complementarity, and vehicles intelligence positively influence the evolution towards cooperative strategies. (3) Factors like technology spillover risk cost inhibit the evolution towards cooperative strategies. To be specific, when the technology spillover risk cost is greater than 2.5, two enterprises are inclined to choose independent R&D, and the government chooses to provide subsidy.

The research perspective and theoretical analysis are helpful to further explore the cross-border cooperation of the intelligent automobile industry. The findings suggest that the government can optimize the subsidy policy according to the R&D capability and resource allocation of automobile industry. Moreover, measures are needed to reduce the risk of technology spillovers to encourage enterprise to collaborate and innovate. The results can provide reference for enterprises’ strategic choice and government’s policy making.

The INEV industry has become an important development direction of the global automobile industry. However, there is limited research on cross-border cooperation of INEV industry. Hence, authors construct a tripartite evolutionary game model involving NEV enterprise, technology enterprise and the government, and explore the relationship of cooperation and competition among players in the INEV industry, which provides a new perspective for the development of the INEV industry.

Material extrusion-based additive manufacturing is a prominent manufacturing technique to fabricate complex geometrical three-dimensional (3D) parts. Despite the indisputable advantages of material extrusion-based technique, the poor surface and subsurface integrity hinder the industrial application of this technology. The purpose of this study is introducing the hot air jet treatment (HAJ) technique for surface treatment of additive manufactured parts.

In the presented research, novel theoretical formulation and finite element models are developed to study and model the polishing mechanism of printed parts surface through the HAJ technique. The model correlates reflow material volume, layer width and layer height. The reflow material volume is a function of treatment temperature, treatment velocity and HAJ velocity. The values of reflow material volume are obtained through the finite element modeling model due to the complexity of the interactions between thermal and mechanical phenomena. The theoretical model presumptions are validated through experiments, and the results show that the treatment parameters have a significant impact on the surface characteristics, hardness and dimensional variations of the treated surface.

The results demonstrate that the average value of error between the calculated theoretical results and experimental results is 14.3%. Meanwhile, the 3D plots of Ra and Rq revealed that the maximum values of Ra and Rq reduction percentages at 255°C, 270°C, 285°C and 300°C treatment temperatures are (35.9%, 33.9%), (77.6%,76.4%), (94%, 93.8%) and (85.1%, 84%), respectively. The scanning electron microscope results illustrate three different treatment zones and the treatment-induced and manufacturing-induced entrapped air relief phenomenon. The measured results of hardness variation percentages and dimensional deviation percentages at different regimes are (8.33%, 0.19%), (10.55%, 0.31%) and (−0.27%, 0.34%), respectively.

While some studies have investigated the effect of the HAJ process on the structural integrity of manufactured items, there is a dearth of research on the underlying treatment mechanism, the integrity of the treated surface and the subsurface characteristics of the treated surface.

Considering the impact of the Free Trade Zone (FTZ) policy on forecasting the port cargo throughput, this paper constructs a fractional grey multivariate forecasting model to improve the prediction accuracy of port cargo throughput and realize the coordinated development of FTZ policymaking and port construction.

Considering the effects of data randomization, this paper proposes a novel self-adaptive grey multivariate prediction model, namely FDCGM(1,N). First, fractional-order accumulative generation operation (AGO) is introduced, which integrates the policy impact effect. Second, the heuristic grey wolf optimization (GWO) algorithm is used to determine the optimal nonlinear parameters. Finally, the novel model is then applied to port scale simulation and forecasting in Tianjin and Fujian where FTZs are situated and compared with three other grey models and two machine learning models.

In the Tianjin and Fujian cases, the new model outperforms the other comparison models, with the least mean absolute percentage error (MAPE) values of 6.07% and 4.16% in the simulation phase, and 6.70% and 1.63% in the forecasting phase, respectively. The results of the comparative analysis find that after the constitution of the FTZs, Tianjin’s port cargo throughput has shown a slow growth trend, and Fujian’s port cargo throughput has exhibited rapid growth. Further, the port cargo throughput of Tianjin and Fujian will maintain a growing trend in the next four years.

The new multivariable grey model can effectively reduce the impact of data randomness on forecasting. Meanwhile, FTZ policy has regional heterogeneity in port development, and the government can take different measures to improve the development of ports.

Under the background of FTZ policy, the new multivariable model can be used to achieve accurate prediction, which is conducive to determining the direction of port development and planning the port layout.

This study aims to examine whether auditors who specialize in research and development (R&D) activities help reduce managers’ opportunistic adjustment of R&D expenditure for real earnings management (REM).

Using a sample of US firms during the 2001–2017 period, the authors identify auditors’ R&D specialization as their prior experience of auditing R&D expenses spent by each client’s peers. The authors measure R&D-based REM as the negative deviation from the predicted level of R&D expenditure.

The authors find that clients of R&D specialist auditors are less likely to engage in REM through a discretionary reduction of R&D expenditure. This effect is more pronounced when clients face higher competition, have larger investment opportunities and entail higher audit risks.

This study shows that auditors’ specialized knowledge can facilitate stronger monitoring of clients’ real decisions, providing implications for auditors’ knowledge acquisition and transfer in specific types of transactions.

This study contributes to the literature by documenting the governance role played by R&D specialist auditors in clients’ real economic decisions. Moreover, the study identifies R&D as a distinct area of auditor specialization.

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 study aims to investigate the most effective approach for governments and enterprises to combat desertification by considering the governance cycle. The focus is on understanding how the government can incentivize enterprises to actively engage in desertification combat efforts.

Both the government and the enterprise are treated as rational entities, making strategic choices for joint participation in combating desertification. Recognizing the dynamic nature of the desertification combat area, differential game models are employed to identify the optimal mode for combating desertification.

The findings underscore the significant influence of the governance cycle duration on the selection of desertification combat modes for government and enterprise. A cooperative mode is best suited to a short governance cycle, while an ecological subsidy mode is optimal for a longer cycle. Enhancing governance technology and shortening the governance cycle are conducive to combating desertification. Reducing taxes alone may not be an effective control strategy; rather, the government can better motivate enterprises by adopting tax rate policies aligned with the chosen governance mode.

This research contributes by elucidating the impact mechanism of the government cycle’s length on the desertification combat process. The results may offer valuable insights for governments in formulating strategies to encourage corporate participation in combating desertification and provide theoretical support for selecting optimal desertification combat modes.

The construction industry is widely recognized as one of the most hazardous sectors in the world. Despite extensive research on safety management, a critical issue remains that insufficient attention is devoted to safety practices in rural areas. Notably, accidents frequently occur during the construction of rural self-built houses (RSH) in China. Safety management tends to be overlooked due to the perceived simplicity of the construction process. Furthermore, it is essential to acknowledge that China currently lacks comprehensive laws and regulations governing safety management in RSH construction. This paper aims to analyze the behavior of key stakeholders (including households, workmen, rural village committee and the government) and propose recommendations to mitigate safety risks associated with RSH construction.

This paper applies evolutionary game theory to analyze the symbiotic evolution among households, workmen and rural village committee, in situations with or without government participation. Additionally, numerical simulation is utilized to examine the outcomes of various strategies implemented by the government.

Without government participation, households, workmen, and rural village committee tend to prioritize maximizing apparent benefits, often overlooking the potential safety risks. Numerical simulations reveal that while government involvement can guide these parties towards safer decisions, achieving the desired outcomes necessitates the adoption of reasonable and effective strategies. Thus, the government needs to offer targeted subsidies to these stakeholders.

Considering that during the construction phase, stakeholders are the main administrators accountable for safety management. However, there exists insufficient research examining the impact of stakeholder behavior on RSH construction safety. This study aims to analyze the behavior of stakeholders about how to reduce the safety risks in building RSH. Thus, the authors intend to contribute to knowledge in this area by establishing evolutionary game model. Firstly, this study carried out a theoretical by using tripartite evolutionary game to reveal the reasons for the high safety risk during building RSH. Practically, this research points out the important role of households, workmen and rural village committee in improving safety management in rural areas. Besides, some suggestions are proposed to the government about how to reduce construction safety risks in rural areas.

The purpose of this paper is to study the following two issues regarding blockchain crowdsourcing. First, to design smart contracts with lower consumption to meet the needs of blockchain crowdsourcing services and also need to design better interaction modes to further reduce the cost of blockchain crowdsourcing services. Second, to design an effective privacy protection mechanism to protect user privacy while still providing high-quality crowdsourcing services for location-sensitive multiskilled mobile space crowdsourcing scenarios and blockchain exposure issues.

This paper proposes a blockchain-based privacy-preserving crowdsourcing model for multiskill mobile spaces. The model in this paper uses the zero-knowledge proof method to make the requester believe that the user is within a certain location without the user providing specific location information, thereby protecting the user’s location information and other privacy. In addition, through off-chain calculation and on-chain verification methods, gas consumption is also optimized.

This study deployed the model on Ethereum for testing. This study found that the privacy protection is feasible and the gas optimization is obvious.

This study designed a mobile space crowdsourcing based on a zero-knowledge proof privacy protection mechanism and optimized gas consumption.