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The purpose of this paper is to design a climbing robot connected by a connecting rod mechanism to achieve multi-functional tasks such as obstacles crossing and climbing of power transmission towers.

A connecting rod type gripper has been designed to achieve stable grasping of angle steel. Before grasping, use coordination between structures to achieve stable docking and grasping. By using the alternating movements of two claws and the middle climbing mechanism, the climbing and obstacle crossing of the angle steel were achieved.

Through a simple linkage mechanism, a climbing robot has been designed, greatly reducing the overall mass of the robot. It can also carry a load of 1 kg, and the climbing mechanism can perform stable climbing. The maximum step distance of the climbing robot is 543 mm, which can achieve the crossing of angle steel obstacles.

A transmission tower climbing mechanism was proposed by analyzing the working environment. Through the locking ability of the screw nut, stable clamping of the angle steel is achieved, and a pitch mechanism is designed to adjust the posture of the hand claw.

The purpose of this paper is to improve the problem of kinematics incompatibility of human–exoskeleton in the existing rigid lower-limb exoskeleton (LLE).

In this paper, following an introduction, the motion characteristics of the human knee joint and the design method of the exoskeleton were introduced. A kinematics model of the LLE based on cross-four-bar linkage was obtained. The structural parameters of the LLE mechanism were optimized by the particle swarm optimization algorithm. The predefined trajectories used in the optimization process were derived from the ankle joint, not the instantaneous center of rotation of the knee joint. Finally, the motion deviation of the optimization result was simulated, and the human–exoskeleton coordination experiment was designed to compare with the traditional single-axis knee joint in terms of comfort and coordination.

The lower limb exoskeleton mechanism obtained in this paper has a good tracking effect on human movement and has been improved in terms of comfort and coordination compared with the traditional single-axis knee joint.

The customized exoskeleton design method introduced in this paper is relatively simple, and the obtained exoskeleton has better movement coordination than the traditional exoskeleton. It can provide a reference for the design of lower limb exoskeleton and lower limb orthosis.

The purpose of the study is to understand the relationship between family-driven innovation and the incorporation of corporate sustainability in German family firms.

The study conducted 26 interviews with 22 German family firms. Thematic analysis was undertaken on the collected data resulting in five major themes.

The study identified five main themes of corporate sustainability-oriented innovation in family firms, which include measuring corporate sustainability performances, building corporate sustainability-oriented infrastructure, stabilizing/optimizing operations, enhancing operational flexibility/independence and knowledge management and development. The study also provides an activity-based guide for family firms to use innovation to achieve corporate sustainability goals and present the findings’ implications for policymakers.

The present study is the first study to empirically investigate the relationship between family-driven innovation and the incorporation of corporate sustainability at each of the corporate sustainability maturity levels.

The main objective of the present research is to investigate the benefits of using geogrid reinforcement in minimizing the rate of deterioration of ballasted rail track geometry resting on soft clay and to explore the effect of load amplitude, load frequency, presence of geogrid layer in ballast layer and ballast layer thickness on the behavior of track system. These variables are studied both experimentally and numerically. This paper examines the effect of geogrid reinforced ballast laying on a layer of clayey soil as a subgrade layer, where a half full scale railway tests are conducted as well as a theoretical analysis is performed.

The experimental tests work consists of laboratory model tests to investigate the reduction in the compressibility and stress distribution induced in soft clay under a ballast railway reinforced by geogrid reinforcement subjected to dynamic load. Experimental model based on an approximate half scale for general rail track engineering practice is adopted in this study which is used in Iraqi railways. The investigated parameters are load amplitude, load frequency and presence of geogrid reinforcement layer. A half full-scale railway was constructed for carrying out the tests, which consists of two rails 800 mm in length with three wooden sleepers (900 mm × 90 mm × 90 mm). The ballast was overlying 500 mm thick clay layer. The tests were carried out with and without geogrid reinforcement, the tests were carried out in a well tied steel box of 1.5 m length × 1 m width × 1 m height. A series of laboratory tests were conducted to investigate the response of the ballast and the clay layers where the ballast was reinforced by a geogrid. Settlement in ballast and clay, was measured in reinforced and unreinforced ballast cases. In addition to the laboratory tests, the application of numerical analysis was made by using the finite element program PLAXIS 3D 2013.

It was concluded that the settlement increased with increasing the simulated train load amplitude, there is a sharp increase in settlement up to the cycle 500 and after that, there is a gradual increase to level out between, 2,500 and 4,500 cycles depending on the load frequency. There is a little increase in the induced settlement when the load amplitude increased from 0.5 to 1 ton, but it is higher when the load amplitude increased to 2 ton, the increase in settlement depends on the geogrid existence and the other studied parameters. Both experimental and numerical results showed the same behavior. The effect of load frequency on the settlement ratio is almost constant after 500 cycles. In general, for reinforced cases, the effect of load frequency on the settlement ratio is very small ranging between 0.5 and 2% compared with the unreinforced case.

Increasing the ballast layer thickness from 20 cm to 30 cm leads to decrease the settlement by about 50%. This ascertains the efficiency of ballast in spreading the waves induced by the track.

This study aims to develop an extended social attachment model for expatriates, integrating a multiple stakeholder perspective, to understand evacuation decisions during disasters.

Through interviews with 12 Tokyo-based expatriates who experienced the 2011 Tohoku earthquake, tsunami and nuclear disasters, this study collects the lived experiences of a diverse set of expatriates. This data is analyzed abductively to map relevant evacuation factors and to propose a reaction typology.

While the 2011 Tohoku disasters caused regional destruction and fears of nuclear fallout, Tokyo remained largely unscathed. Still, many expatriates based in Tokyo chose to leave the country. Evacuation decisions were shaped by an interplay of threat assessment, location of attachment figures and cross-cultural adjustment. The study also discusses the influence of expatriate types.

Disaster planning is often overlooked or designed primarily with host country nationals in mind. Expatriates often lack the disaster experience and readiness of host country nationals in disaster-prone regions in Asia and beyond, and thus might need special attention when disaster strikes. This study provides advice for how to do so.

By unpacking the under-researched and complex phenomenon of expatriate reactions to disasters, this study contributes to the fields of international human resource and disaster management. Specifically, seven proposition on casual links leading to expatriate evacuation are suggested, paving the way for future research.

Drawing on the conservation of resources theory and attachment theory, this paper proposes that employee–organization relationship and satisfaction with work–life balance mediate the influence of workplace attachment on service recovery performance.

Data collection was carried out through the distribution of questionnaires among a sample of healthcare providers from Lebanese private hospitals and analyzed via structural equation modeling.

The results indicate that workplace attachment has a significant impact on employee–organization relationship, satisfaction with work–life balance and service recovery performance. The findings further reveal that employee–organization relationship and satisfaction with work–life balance significantly influence service recovery performance and fully mediate the relationship between workplace attachment and service recovery performance.

This study is the first to investigate the mediating role of the employee–organization relationship and satisfaction with work–life balance between workplace attachment and service recovery performance. Over and above, this study is the first of its kind that the authors are aware of, being conducted in the healthcare sector, specifically in Lebanon. Based on the findings, the paper discusses the theoretical contributions, managerial implications and suggestions for further studies.

This study aims to design and validate a theoretical model for capacitive imaging (CI) sensors that incorporates the interelectrode shielding and surrounding shielding electrodes. Through experimental verification, the effectiveness of the theoretical model in evaluating CI sensors equipped with shielding electrodes has been demonstrated.

The study begins by incorporating the interelectrode shielding and surrounding shielding electrodes of CI sensors into the theoretical model. A method for deriving the semianalytical model is proposed, using the renormalization group method and physical model. Based on random geometric parameters of CI sensors, capacitance values are calculated using both simulation models and theoretical models. Three different types of CI sensors with varying geometric parameters are designed and manufactured for experimental testing.

The study’s results indicate that the errors of the semianalytical model for the CI sensor are predominantly below 5%, with all errors falling below 10%. This suggests that the semianalytical model, derived using the renormalization group method, effectively evaluates CI sensors equipped with shielding electrodes. The experimental results demonstrate the efficacy of the theoretical model in accurately predicting the capacitance values of the CI sensors.

The theoretical model of CI sensors is described by incorporating the interelectrode shielding and surrounding shielding electrodes into the model. This comprehensive approach allows for a more accurate evaluation of the detecting capability of CI sensors, as well as optimization of their performance.

Abnormal vibrations often occur in the liquid oxygen kerosene transmission pipelines of rocket engines, which seriously threaten their safety. Improper handling can result in failed rocket launches and significant economic losses. Therefore, this paper aims to examine vibrations in transmission pipelines.

In this study, a three-dimensional high-pressure pipeline model composed of corrugated pipes, multi-section bent pipes, and other auxiliary structures was established. The fluid–solid coupling method was used to analyse vibration characteristics of the pipeline under various external excitations. The simulation results were visualised using MATLAB, and their validity was verified via a thermal test.

In this study, the vibration mechanism of a complex high-pressure pipeline was examined via a visualisation method. The results showed that the low-frequency vibration of the pipe was caused by fluid self-excited pressure pulsation, whereas the vibration of the engine system caused a high-frequency vibration of the pipeline. The excitation of external pressure pulses did not significantly affect the vibrations of the pipelines. The visualisation results indicated that the severe vibration position of the pipeline thermal test is mainly concentrated between the inlet and outlet and between the two bellows.

The results of this study aid in understanding the causes of abnormal vibrations in rocket engine pipelines.

The causes of different vibration frequencies in the complex pipelines of rocket engines and the propagation characteristics of external vibration excitation were obtained.

The durability of concrete containing recycled aggregates, sourced from concrete specimens that have been tested in laboratory testing facilities, remains understudied. This paper aims to present the results of experiments investigating the effect of incorporating such type of concrete waste on the strength and durability-related properties of concrete.

A total of 77 concrete cylinders sized Ø100 × 200 mm with varying amount of recycled concrete aggregate (RCA) (0%–100% by volume, at 25% increments) and maximum aggregate size (12.5, 19.0 and 25.0 mm) were fabricated and tested for slump, compressive strength, sorptivity and electrical resistivity. Disk-shaped specimens, 50-mm thick, were cut from the original cylinders for sorptivity and resistivity tests. Analysis of variance and post hoc test were conducted to detect statistical variability among the data.

Compared to regular concrete, a reduction of slump (by 18.6%), strength (15.1%), secondary sorptivity (31.5%) and resistivity (17.0%) were observed from concrete containing 100% RCA. Statistical analyses indicate that these differences are significant. In general, an aggregate size of 19 mm was found to produce the optimum value of slump, compressive strength and sorptivity in regular and RCA-added concrete.

The results of this study suggest that comparable properties of normal concrete were still achieved by replacing 25% of coarse aggregate volume with 19-mm RCA, which was processed from laboratory-tested concrete samples. Therefore, such material can be considered as a potential and sustainable alternative to crushed gravel for use in light or nonstructural concrete construction.