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In recent years, owing to the rapidly increasing labor costs, the demand for robots in daily services and industrial operations has been increased significantly. For further applications and human–robot interaction in an unstructured open environment, fast and accurate tracking and strong disturbance rejection ability are required. However, utilizing a conventional controller can make it difficult for the robot to meet these demands, and when a robot is required to perform at a high-speed and large range of motion, conventional controllers may not perform effectively or even lead to the instability.

The main idea is to develop the control law by combining the SMC feedback with the ADRC control architecture to improve the robustness and control quality of a conventional SMC controller. The problem is formulated and solved in the framework of ADRC. For better estimation and control performance, a generalized proportional integral observer (GPIO) technique is employed to estimate and compensate for unmodeled dynamics and other unknown time-varying disturbances. And benefiting from the usage of GPIO, a new SMC law can be designed by synthesizing the estimation and its history.

The employed methodology introduced a significant improvement in handling the uncertainties of the system parameters without compromising the nominal system control quality and intuitiveness of the conventional ADRC design. First, the proposed method combines the advantages of the ADRC and SMC method, which achieved the best tracking performance among these controllers. Second, the proposed controller is sufficiently robust to various disturbances and results in smaller tracking errors. Third, the proposed control method is insensitive to control parameters which indicates a good application potential.

High-performance robot tracking control is the basis for further robot applications in open environments and human–robot interfaces, which require high tracking accuracy and strong disturbance rejection. However, both the varied dynamics of the system and rapidly changing nonlinear coupling characteristic significantly increase the control difficulty. The proposed method gives a new replacement of PID controller in robot systems, which does not require an accurate dynamic system model, is insensitive to control parameters and can perform promisingly for response rapidity and steady-state accuracy, as well as in the presence of strong unknown disturbances.

This paper aims to explore how unreflective and reflective value experience emerges in value co-creation and co-destruction practices in a consumer context.

This paper presents a Heideggerian phenomenological heuristic consisting of three interrelated modes of engagement, which is used for interpretive sense-making in a dynamic and lively case context of amateur-level football (soccer) played on artificial grass. Based on a qualitative study using ethnographic techniques, this study examines the whats and the hows of value experience by individuals playing football at different qualities and in varying conditions across 25 Dutch football teams.

The findings reveal three interrelated yet distinct modalities of experience in value co-creation and co-destruction presented in a continuum of triplex spaces of unreflective and reflective value experience. The first is a joyful flow of unreflective value experience in emergent and undisrupted value co-creation practice with no potential for value co-destruction. Second, a semireflective value experience caused by interruptions in value co-creation has a higher potential for value co-destruction. Third, a fully reflective value experience through a completely interrupted value co-creation practice results in high-value co-destruction.

This research contributes to the literature on the microfoundations of value experience and value creation by proposing a conceptual relationship between unreflective/reflective value experience and value co-creation and co-destruction mediated through interruptions in consumer usage situations.

This study’s novel perspective on this relationship offers practitioners a useful vantage point on understanding how enhanced value experience comes about in value co-creation practice and how this is linked to value co-destruction when interruptions occur. These insights help bolster alignment and prevent misalignment in resource integration and foster service strategies, designs and innovations to better influence consumer experience in journeys.

This study deploys an integral view of how consumer value experience manifests in value co-creation and co-destruction that offers conceptual, methodological and practical clarity.

The purpose of this paper is to propose a robotic system for percutaneous surgery. The key component in the system, a robotic arm that can manipulate a puncture needle is presented. The mechanical design, the motion control and the force control method of the robotic arm are discussed in the paper.

The arm with an arc mechanism placed on a 3D Cartesian stage is developed as a puncture needle manipulator to locate the position of the needle tip, tune the needle’s posture and actuate the puncture motion under the visual guidance of two orthogonal X-ray images of a patient by a surgeon. A focusing method by using two laser spots is proposed to automatically move the needle tip to a surgery entry point on the skin. A dynamics model is developed to control the position of the needle mechanism and an explicit force control strategy is utilized to perform the needle insertion.

With the surgical system, a surgeon can easily perform puncture operation by taking two orthogonal real-time X-ray images as a visual feedback and accurately navigating the needle insertion. The laser-guided focusing method is efficient in placement of the needle tip. The explicit force control strategy is proved to be effective for holding constant and stable puncture force in experiments.

The robotic arm has an advantage in easy redirection of the needle because the rotation and the translation are decoupled in the mechanism. By adopting simple laser pens and a well-developed kinematics model, the system can handle the entry point, locating task automatically. The focusing method and the force control method proposed in the paper are useful for the present system and could be intuitive for similar surgical robots.

Laser sintering of polyamide lattice-based lightweight fairing components for subsequent racetrack testing requires a high quality and a reliable design. Hence, the purpose of this study was to develop a design methodology for such additively manufactured prototypes, considering efficient generation and structural simulation of boundary conformal non-periodic lattices, optimization of production parameters as well as experimental validation.

Multi-curved, sandwich structure-based demonstrators were designed, simulated and experimentally tested with boundary conformal lattice cells. The demonstrator’s non-periodic lattice cells were simplified by forward homogenization processes. To represent the stiffness of the top and bottom face sheet, constant isotropic and mapped transversely isotropic simulation approaches were compared. The dimensional accuracy of lattice cells and demonstrators were measured with a gauge caliper and a three-dimensional scanning system. The optimized process parameters for lattice structures were transferred onto a large volume laser sintering system. The stiffness of each finite element analysis was verified by an experimental test setup including a digital image correlation system.

The stiffness prediction of the mapped was superior to the constant approach and underestimated the test results with −6.5%. Using a full scale fairing the applicability of the development process was successfully demonstrated.

The design approach elaborated in this research covers aspects from efficient geometry generation over structural simulation to experimental testing of produced parts. This methodology is not only relevant in the context of motor sports but is transferrable for all additively manufactured large scale components featuring a complex lattice sub-structure and is, therefore, relevant across industries.

With the increasing requirements for intelligence in the field of aviation manufacturing, manual assembly can hardly adapt to the trend of future production. The purpose of this study is to realize the semi-automatic assembly of the movable airfoil by proposing a human-robot collaborative assembly strategy based on adaptive admittance control.

A logical judgment system for operating intentions is introduced in terms of different situations of the movements; hence, a human cognition-based adaptive admittance control method is developed to curb the damage of inertia; then virtual limit walls are raised on the periphery of the control model to ensure safety; finally, simulated and experimental comparisons with other admittance control methods are conducted to validate the proposed method.

The proposed method can save at least 28.8% of the time in the stopping phase which effectively compensates for inertia during the assembly process and has high robustness concerning data disturbances.

Due to the human-robot collaboration to achieve compliant assembly of movable airfoils can preserve human subjectivity while overcoming the physical limits of humans, which is of great significance to the investigation of intelligent aircraft assembly, the proposed method that reflects the user's naturalness and intuitiveness can not only enhance the stability and the flexibility of the manipulation, but also contribute to applications of industrial robots in the field of human-robot collaboration.

The purpose of this paper is to propose a new simplified numerical model, based on a very compact semi-empirical formulation, able to simulate the fluid dynamics behaviors of an electrohydraulic servovalve taking into account several effects due to valve geometry (e.g. flow leakage between spool and sleeve) and operating conditions (e.g. variable supply pressure or water hammer).

The proposed model simulates the valve performance through a simplified representation, deriving from the linearized approach based on pressure and flow gains, but able to evaluate the mutual interaction between boundary conditions, pressure saturation and leak assessment. Its performance was evaluated comparing with other fluid dynamics numerical models (a detailed physics-based high-fidelity one and other simplified models available in the literature).

Although still showing some limitations attributable to its simplified formulation, the proposed model overcomes several deficiencies typical of the most common fluid dynamic models available in the literature, describing the water hammer and the nonlinear dependence of the delivery differential pressure with the spool displacement.

Although still based on a simplified formulation with reduced computational costs, the proposed model introduces a new nonlinear approach that, approximating with suitable precision the pressure-flow fluid dynamic characteristic of a servovalve, overcomes the shortcomings typical of such models.

COVID-19 has forced Big 4 firms to challenge existing management control arrangements and adapt their ways of working. Yet, we know little about how management control might be enacted in the future of the sustainable workplace. The objective of the study is to examine the patterns of management control change in the Big 4 accounting firms during the COVID-19 pandemic.

Adopting an exploratory qualitative research design, the authors draw on 42 interviews with directors and associates in the Big 4 professional services firms.

The findings reveal two pathways of management control change including alignment and displacement. The authors found that relatively minor adaptions to action and result controls were relied upon to respond to substantial cultural and personnel control changes.

The contributions are threefold: the authors take a temporal perspective to (1) unpack the changes to management control arrangements; (2) theorise the findings by developing a three-dimensional taxonomy of change pathways encompassing pace, scope and longevity of management control change and (3) contextualise management control arrangements in a hybrid work setting.

1. COVID-19 has forced Big 4 firms to challenge existing management control arrangements.

2. Literature has focused on traditional, onsite work settings and largely ignored change pathways.

3. The authors take a temporal perspective to unpack changes to management control arrangements.

4. Big 4 firms adapted to hybrid work with substantial changes to personnel and cultural controls.

5. The authors theorise the findings by developing a three-dimensional taxonomy of change pathways.

COVID-19 has forced Big 4 firms to challenge existing management control arrangements.

Literature has focused on traditional, onsite work settings and largely ignored change pathways.

The authors take a temporal perspective to unpack changes to management control arrangements.

Big 4 firms adapted to hybrid work with substantial changes to personnel and cultural controls.

The authors theorise the findings by developing a three-dimensional taxonomy of change pathways.

The purpose of the work is to provide a comprehensive review of the digital image correlation (DIC) technique for those who are interested in performing the DIC technique in the area of manufacturing.

No methodology was used because the paper is a review article.

no fundings.

Herein, the historical development, main strengths and measurement setup of DIC are introduced. Subsequently, the basic principles of the DIC technique are outlined in detail. The analysis of measurement accuracy associated with experimental factors and correlation algorithms is discussed and some useful recommendations for reducing measurement errors are also offered. Then, the utilization of DIC in different manufacturing fields (e.g. cutting, welding, forming and additive manufacturing) is summarized. Finally, the current challenges and prospects of DIC in intelligent manufacturing are discussed.

Most of the 3D printing machines do not comply with the requirements of on-site, large-scale multi-story building construction. This paper aims to propose the conceptualization of a tower crane (TC)-based 3D printing controlled by artificial intelligence (AI) as the first step towards a large 3D printing development for multi-story buildings. It also aims to overcome the most important limitation of additive manufacturing in the construction industry (the build volume) by exploiting the most important machine used in the field: TCs. It assesses the technology feasibility by investigating the accuracy reached in the printing process.

The research is composed of three main steps: firstly, the TC-based 3D printing concept is defined by proposing an aero-pendulum extruder stabilized by propellers to control the trajectory during the extrusion process; secondly, an AI-based system is defined to control both the crane and the extruder toolpath by exploiting deep reinforcement learning (DRL) control approach; thirdly the proposed framework is validated by simulating the dynamical system and analysing its performance.

The TC-based 3D printer can be effectively used for additive manufacturing in the construction industry. Both the TC and its extruder can be properly controlled by an AI-based control system. The paper shows the effectiveness of the aero-pendulum extruder controlled by AI demonstrated by simulations and validation. The AI-based control system allows for reaching an acceptable tolerance with respect to the ideal trajectory compared with the system tolerance without stabilization.

In related literature, scientific investigations concerning the use of crane systems for 3D printing and AI-based systems for control are completely missing. To the best of the authors’ knowledge, the proposed research demonstrates for the first time the effectiveness of this technology conceptualized and controlled with an intelligent DRL agent.

The results provide the first step towards the development of a new additive manufacturing system for multi-storey constructions exploiting the TC-based 3D printing. The demonstration of the conceptualization feasibility and the control system opens up new possibilities to activate experimental research for companies and research centres.