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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.

Component positioning is an important part of aircraft assembly, aiming at the problem that it is difficult to accurately fall into the corresponding ball socket for the ball head connected with aircraft component. This study aims to propose a ball head adaptive positioning method based on impedance control.

First, a target impedance model for ball head positioning is constructed, and a reference positioning trajectory is generated online based on the contact force between the ball head and the ball socket. Second, the target impedance parameters were optimized based on the artificial fish swarm algorithm. Third, to improve the robustness of the impedance controller in unknown environments, a controller is designed based on model reference adaptive control (MRAC) theory and an adaptive impedance control model is built in the Simulink environment. Finally, a series of ball head positioning experiments are carried out.

During the positioning of the ball head, the contact force between the ball head and the ball socket is maintained at a low level. After the positioning, the horizontal contact force between the ball head and the socket is less than 2 N. When the position of the contact environment has the same change during ball head positioning, the contact force between the ball head and the ball socket under standard impedance control will increase to 44 N, while the contact force of the ball head and the ball socket under adaptive impedance control will only increase to 19 N.

In this paper, impedance control is used to decouple the force-position relationship of the ball head during positioning, which makes the entire process of ball head positioning complete under low stress conditions. At the same time, by constructing an adaptive impedance controller based on MRAC, the robustness of the positioning system under changes in the contact environment position is greatly improved.

A maturity model for Industry 4.0 (I4.0 MM) with influencing factors is designed to address maturity issues in adopting Industry 4.0. Standardisation in I4.0 supports manufacturing industry transformation, forming reference architecture models (RAMs). This paper aligns key factors and maturity levels in I4.0 MMs with reputable I4.0 RAMs to enhance strategy for I4.0 transformation and implementation.

Three steps of alignment consist of the systematic literature review (SLR) method to study the current published high-quality I4.0 MMs, the taxonomy development of I4.0 influencing factors by adapting and implementing the categorisation of system theories and aligning I4.0 MMs with RAMs.

The study discovered that different I4.0 MMs lead to varied organisational interpretations. Challenges and insights arise when aligning I4.0 MMs with RAMs. Aligning MM levels with RAM stages is a crucial milestone in the journey toward I4.0 transformation. Evidence indicates that I4.0 MMs and RAMs often overlook the cultural domain.

Findings contribute to the literature on aligning capabilities with implementation strategies while employing I4.0 MMs and RAMs. We use five RAMs (RAMI4.0, NIST-SME, IMSA, IVRA and IIRA), and as a common limitation in SLR, there could be a subjective bias in reading and selecting literature.

To fully leverage the capabilities of RAMs as part of the I4.0 implementation strategy, companies should initiate the process by undertaking a thorough needs assessment using I4.0 MMs.

The novelty of this paper lies in being the first to examine the alignment of I4.0 MMs with established RAMs. It offers valuable insights for improving I4.0 implementation strategies, especially for companies using both MMs and RAMs in their transformation efforts.

This paper aims to derive a reduced-order model for the heat transfer across the interface between a millimetric thermocapillary liquid bridge from silicone oil and the surrounding ambient gas.

Numerical solutions for the two-fluid model are computed covering a wide parametric space, making a total of 2,800 numerical flow simulations. Based on the computed data, a reduced single-fluid model for the liquid phase is devised, in which the heat transfer between the liquid and the gas is modeled by Newton’s heat transfer law, albeit with a space-dependent Biot function Bi(z), instead of a constant Biot number Bi.

An explicit robust fit of Bi(z) is obtained covering the whole range of parameters considered. The single-fluid model together with the Biot function derived yields very accurate results at much lesser computational cost than the corresponding two-phase fully-coupled simulation required for the two-fluid model.

Using this novel Biot function approach instead of a constant Biot number, the critical Reynolds number can be predicted much more accurately within single-phase linear stability solvers.

The Biot function for thermocapillary liquid bridges is derived from the full multiphase problem by a robust multi-stage fit procedure. The derived Biot function reproduces very well the theoretical boundary layer scalings.

This research aims to model the existing system of destination competitiveness, identifies leverage points and develop revised model to achieve sustainable competitiveness.

System dynamics is used as method of modeling destination competitiveness. Structure of model utilizes 9-factor model as reference. Leverage points are identified using system archetypes. Revised model is built with resource-based view (RBV). Case study was conducted in Samosir, Toba Lake. Data used are secondary data and results of in-depth interviews.

There are 3 sub-systemic characteristics (archetypes) that hinder competitiveness. They are limit to growth quality gap, fix that fails infrastructure and promotion, tragedy of common lake pollution. Destination was unable to meet tourist expectations. Tourists spending decreased, demand size was small. Industries are unable to increase capabilities. Professionals, entrepreneurs, local workers, supporting industries are less interested in entering industry. Government policies do not match with destination's needs. Lake as main attraction is getting polluted. To achieve sustainable competitiveness, destination must utilize their valuable, rare and inimitable (VRI) resources and capabilities to design unique experiences for tourists, hence sustainable.

Government policy should be shifted to prioritizing development of valuable, rare, inimitable and well-organized resources and capabilities of destination, to produce unique tourist experience and achieve sustainable competitiveness.

Methods and findings, combining system dynamics, system archetype, 9-factor model and RBV to achieve sustainable competitiveness is novel and can enrich tourism sustainable competitiveness theory/concept.

This paper aims to investigate the responses of single piles and pile groups due to tunneling-induced ground movements in a two-layered soil system. The analyses mainly focus on the additional single pile responses in terms of bending moment, lateral deflection, axial force, shaft resistance and pile settlement. Subsequently, a series of parametric studies were carried out to better understand the responses of single piles induced by tunneling. To give further understanding regarding the pile groups, a 2 × 2 pile group with two different pile head conditions, namely, free and capped, was considered.

Using the PLAXIS three-dimensional (3D) software, a full 3D numerical modeling is performed to investigate the effects of ground movements caused by tunneling on adjacent pile foundations. The numerical model was validated using centrifuge test data found in the literature. The relevance of the 3D model is also judged by comparison with the 2D plane strain model using the PLAXIS 2D code.

The numerical test results reveal that tunneling induces significant displacements and internal forces in nearby piles. The magnitude and distribution of internal forces depend mainly on the position of the pile toe relative to the tunnel depth and the distance between the pile and the vertical axis of the tunnel. As the volume loss increases from 1% to 3%, the apparent loss of pile capacity increases from 11% to 20%. By increasing the pile length from 0.5 to 1.5 times, the tunnel depth, the maximum pile settlement and lateral deflection decrease by about 63% and 18%, respectively. On the other hand, the maximum bending moment and axial load increase by about 7 and 13 times, respectively. When the pile is located at a distance of 2.5 times the tunnel diameter (Dt), the additional pile responses become insignificant. It was found that an increase in tunnel depth from 1.5Dt to 2.5Dt (with a pile length of 3Dt) increases the maximum lateral deflection by about 420%. Regarding the interaction between tunneling and group of piles, a positive group effect was observed with a significant reduction of the internal forces in rear piles. The maximum bending moment of the front piles was found to be higher than that of the rear piles by about 47%.

Soil is a complex material that shows differently in primary loading, unloading and reloading with stress-dependent stiffness. This general behavior was not possibly being accounted for in simple elastic perfectly plastic Mohr–Coulomb model which is often used to predict the behavior of soils. Thus, in the present study, the more advanced hardening soil model with small-strain stiffness (HSsmall) is used to model the non-linear stress–strain soil behavior. Moreover, unlike previous studies THAT are usually based on the assumption that the soil is homogeneous and using numerical methods by decoupled loadings under plane strain conditions; in this study, the pile responses have been exhaustively investigated in a two-layered soil system using a fully coupled 3D numerical analysis that takes into account the real interactions between tunneling and pile foundations. The paper presents a distinctive set of findings and insights that provide valuable guidance for the design and construction of shield tunnels passing through pile foundations.

This study aims to predict overnight stays in Italy at tourist accommodation facilities through a nonlinear, single factor, stochastic model called CIR#. The contribution of this study is twofold: in terms of forecast accuracy and in terms of parsimony (both from the perspective of the data and the complexity of the modeling), especially when a regular pattern in the time series is disrupted. This study shows that the CIR# not only performs better than the considered baseline models but also has a much lower error than other additional models or approaches reported in the literature.

Typically, tourism demand tends to follow regular trends, such as low and high seasons on a quarterly/monthly level and weekends and holidays on a daily level. The data set consists of nights spent in Italy at tourist accommodation establishments as collected on a monthly basis by Eurostat before and during the COVID-19 pandemic breaking regular patterns.

Traditional tourism demand forecasting models may face challenges when massive amounts of search intensity indices are adopted as tourism demand indicators. In addition, given the importance of accurate forecasts, many studies have proposed novel hybrid models or used various combinations of methods. Thus, although there are clear benefits in adopting more complex approaches, the risk is that of dealing with unwieldy models. To demonstrate how this approach can be fruitfully extended to tourism, the accuracy of the CIR# is tested by using standard metrics such as root mean squared errors, mean absolute errors, mean absolute percentage error or average relative mean squared error.

The CIR# model is notably simpler than other models found in literature and does not rely on black box techniques such as those used in neural network (NN) or data science-based models. The carried analysis suggests that the CIR# model outperforms other reference predictions in terms of statistical significance of the error.

The proposed model stands out for being a viable option to the Holt–Winters (HW) model, particularly when dealing with irregular data.

The proposed model has demonstrated superiority even when compared to other models in the literature, and it can be especially useful for tourism stakeholders when making decisions in the presence of disruptions in data patterns.

The novelty lies in the fact that the proposed model is a valid alternative to the HW, especially when the data are not regular. In addition, compared to many existing models in the literature, the CIR# model is notably simpler and more transparent, avoiding the “black box” nature of NN and data science-based models.

一般来说, 旅游需求往往遵循规律的趋势, 例如季度/月的淡季和旺季, 以及日常的周末和假期。该数据集包括欧盟统计局在打破常规模式的2019冠状病毒病大流行之前和期间每月收集的在意大利旅游住宿设施度过的夜晚。

本研究旨在通过一个名为cir#的非线性单因素随机模型来预测意大利游客住宿设施的过夜住宿情况。这项研究的贡献是双重的:在预测准确性方面和在简洁方面(从数据和建模复杂性的角度来看), 特别是当时间序列中的规则模式被打乱时。我们表明, cir#不仅比考虑的基线模型表现更好, 而且比文献中报告的其他模型或方法具有更低的误差。

当大量搜索强度指标被作为旅游需求指标时, 传统的旅游需求预测模型将面临挑战。此外, 鉴于准确预测的重要性, 许多研究提出了新的混合模型或使用各种方法的组合。因此, 尽管采用更复杂的方法有明显的好处, 但风险在于处理难使用的模型。为了证明这种方法能有效地扩展到旅游业, 使用RMSE、MAE、MAPE或AvgReIMSE等标准指标来测试cir#的准确性。

cir#模型明显比文献中发现的其他模型简单, 并且不依赖于黑盒技术, 例如在神经网络或基于数据科学的模型中使用的技术。所进行的分析表明, cir#模型在误差的统计显著性方面优于其他参考预测。

这个模型作为Holt-Winters模型的一个拟议模型, 特别是在处理不规则数据时。

即使与文献中的其他模型相比, 所提出的模型也显示出优越性, 并且在数据模式中断时对旅游利益相关者做出决策特别有用。

创新之处在于所提出的模型是Holt-Winters模型的有效替代方案, 特别是当数据不规律时。此外, 与文献中的许多现有模型相比, cir#模型明显更简单、更透明, 避免了神经网络和基于数据科学的模型的“黑箱”性质。

Normalmente, la demanda turística tiende a seguir tendencias regulares, como temporadas altas y bajas a nivel trimestral/mensual y fines de semana y festivos a nivel diario. El conjunto de datos consiste en las pernoctaciones en Italia en establecimientos de alojamiento turístico recogidas mensualmente por Eurostat antes y durante la pandemia de COVID-19, rompiendo los patrones regulares.

El presente estudio pretende predecir las pernoctaciones en Italia en establecimientos de alojamiento turístico mediante un modelo estocástico no lineal de un solo factor denominado CIR#. La contribución de este estudio es doble: en términos de precisión de la predicción y en términos de parsimonia (tanto desde la perspectiva de los datos como de la complejidad de la modelización), especialmente cuando un patrón regular en la serie temporal se ve interrumpido. Demostramos que el CIR# no sólo aplica mejor que los modelos de referencia considerados, sino que también tiene un error mucho menor que otros modelos o enfoques adicionales de los que se informa en la literatura.

Los modelos tradicionales de previsión de la demanda turística pueden enfrentarse a desafíos cuando se adoptan cantidades masivas de índices de intensidad de búsqueda como indicadores de la demanda turística. Además, dada la importancia de unas previsiones precisas, muchos estudios han propuesto modelos híbridos novedosos o han utilizado diversas combinaciones de métodos. Así pues, aunque la adopción de enfoques más complejos presenta ventajas evidentes, el riesgo es el de enfrentarse a modelos poco manejables. Para demostrar cómo este enfoque puede extenderse de forma fructífera al turismo, se comprueba la precisión del CIR# utilizando métricas estándar como RMSE, MAE, MAPE o AvgReIMSE.

El modelo CIR# es notablemente más sencillo que otros modelos encontrados en la literatura y no se basa en técnicas de caja negra como las utilizadas en los modelos basados en redes neuronales o en la ciencia de datos. El análisis realizado sugiere que el modelo CIR# supera a otras predicciones de referencia en términos de significación estadística del error.

El modelo propuesto destaca por ser una opción viable al modelo Holt-Winters, sobre todo cuando se trata de datos irregulares.

El modelo propuesto ha demostrado su superioridad incluso cuando se compara con otros modelos de la bibliografía, y puede ser especialmente útil para los agentes del sector turístico a la hora de tomar decisiones cuando se producen alteraciones en los patrones de datos.

La novedad radica en que el modelo propuesto es una alternativa válida al Holt-Winters especialmente cuando los datos no son regulares. Además, en comparación con muchos modelos existentes en la literatura, el modelo CIR# es notablemente más sencillo y transparente, evitando la naturaleza de “caja negra” de los modelos basados en redes neuronales y en ciencia de datos.

This study aims to study the factors that drive non-users of digital banking services rendered by Islamic banks in Malaysia towards their adoption of digital services in the banking 4.0 era using the innovation diffusion theory (IDT), also known as the diffusion theory of innovation (DOI).

IDT theory and literature on intention to adopt digital bank services were reviewed in a bid to contribute to the factors that drive non-users to adopt digital banking.

The review suggests that the adoption of digital banking is determined not only by perceived relative advantage, and perceived compatibility but also by additional factors in IDT theory, which are technology self-efficacy and perceived expected benefits. On the contrary, perceived complexity does not turn out to be a factor of digital banking adoption.

Considering this paper in terms of the limited scope of the theory rendered and the context, it should be given proper attention when interpreting future outcomes when further investigations are brought into play in terms of population and sampling method.

This paper serves as a guide to ensure the better planning of non-users’ adoption factors related to Islamic bank customers in both theory and practice.

DOI is extended in the context of digital banking, as evidenced by empirical results, and literature shows that IDT integrated with the technology self-efficacy model is yet to be proposed in the digital banking adoption by Islamic bank customers. Additionally, variables, namely, perceived expected benefits and technology self-efficacy, are proposed in IDT’s existing model. Current findings will therefore serve as a relevant reference for digital technology specialists, policymakers, Islamic banks’ IT managers, academicians and future researchers.

This paper aims to propose a novel control scheme and offer a control parameter optimizer to achieve better automatic carrier landing. Carrier landing is a challenging work because of the severe sea conditions, high demand for accuracy and non-linearity and maneuvering coupling of the aircraft. Consequently, the automatic carrier landing system raises the need for a control scheme that combines high robustness, rapidity and accuracy. In addition, to exploit the capability of the proposed control scheme and alleviate the difficulty of manual parameter tuning, a control parameter optimizer is constructed.

A novel reference model is constructed by considering the desired state and the actual state as constrained generalized relative motion, which works as a virtual terminal spring-damper system. An improved particle swarm optimization algorithm with dynamic boundary adjustment and Pareto set analysis is introduced to optimize the control parameters.

The control parameter optimizer makes it efficient and effective to obtain well-tuned control parameters. Furthermore, the proposed control scheme with the optimized parameters can achieve safe carrier landings under various severe sea conditions.

The proposed control scheme shows stronger robustness, accuracy and rapidity than sliding-mode control and Proportion-integration-differentiation (PID). Also, the small number and efficiency of control parameters make this paper realize the first simultaneous optimization of all control parameters in the field of flight control.

Multinational business deliver value via multiple sites with similar operational capacities. The age of the Fourth Industrial Revolution (4IR) delivers significant opportunities for the deployment of digital tools for business optimization. Therefore, this study aims to study the Industry 4.0 implementation for multinationals.

The key objective of this research is multi-site systems integration using a reproducible, modular and standardized “Cyber Physical System (CPS) as-a-Service”.

A best practice reference architecture is adopted to guide the design and delivery of a pioneering CPS multi-site deployment. The CPS deployed is a cloud-based platform adopted to enable all manufacturing areas within a multinational energy and petrochemical company. A methodology is developed to quantify the system environmental and sustainability benefits focusing on reduced carbon dioxide (CO₂) emissions and energy consumption. These results demonstrate the benefits of standardization, replication and digital enablement for multinational businesses.

The research illustrates the ability to design a single system, reproducible for multiple sites. This research also illustrates the beneficial impact of system reuse due to reduced environmental impact from lower CO₂ emissions and energy consumption. The paper assists organizations in deploying complex systems while addressing multinational systems implementation constraints and standardization.