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The null-space projection method is commonly adopted for controlling redundant robots, which undoubtedly requires the robot Jacobian matrix inverse. This paper aims to provide a novel control scheme, which enables null-space control of redundant robots without conflict with the main task space.

In this paper, an impedance-based null-space control approach for redundant robots is proposed. The null-space degrees of freedom are separated from the primary task space by using the eigenvalue decomposition. Then, a joint impedance controller spans the null space and is reflected into the joint space to manage the redundancy. Finally, several experiments have been conducted to evaluate and validate the performance of the proposed approach in comparison with the null-space projection method under various situations.

Experiment results show that no significant differences were observed between the different filling eigenvalues in the proposed approach under different null-space dimensions and motion velocity. Besides, comparative experiment results demonstrate that the proposed method can achieve comparable results to the null-space projection method. Nevertheless, the suggested approach has benefits regarding the quantity of control parameters in addition to not requiring a Jacobian inverse. Notably, the performance of the proposed method will improve as the null-space dimension increases.

This study presents a new control method for redundant robots, which has advantages for dealing with the problems of controlling redundant robots compared to the existing methods.

We develop a credit-risk model to study the informational role of investment in an economy susceptible to large liquidity shocks. Firms' investment decisions carry information about their asset quality, thereby mitigating informational frictions when firms enter bankruptcy. An increase in aggregate investment can reduce the informational value of investment, depressing firms' recovery values. Therefore, policies boosting investment can decrease debt and firm values by reducing the informational value of investment. The presence of debt overhang may enhance firm value by making firms' investment decisions more informative. We present suggestive empirical evidence consistent with model predictions on the relation between firms' investments and recovery rates.

This study aims to thoroughly examine the milling process applied to fused filament fabrication (FFF) parts. The primary objective is to identify the key variables in creating smooth surfaces on FFF specimens and establish trends about specific parameters.

In this study, PLA and ABS samples fabricated by FFF are subjected to side milling in several experiments. Achievable surface quality is studied in relation to material properties, milling parameters, tooling and macrostructure. The surface finish is quantified using profile measurements of the processed surfaces. The study classifies the created chips into categories that can be used as criteria for the anticipated quality. Spectral analysis is used to examine the various surface formation modes. Thermal monitoring is used to track chip formation and surface temperature changes during the milling process.

This study reveals that effective heat dissipation through proper chip formation is vital for maintaining high surface quality. Recommended methodology demands using a tool with a substantial flute volume, using high positive rake and clearance angles and optimizing the feed-per-tooth and cutting speed. Disregarding these guidelines may cause the surface temperature to surpass the material’s glass transition, resulting in inferior quality characterized by viscous folding. For FFF thermoplastics, optimal milling can bring the average surface roughness down to the micron level.

This research contributes to the field by providing valuable guidance for achieving superior results in milling FFF parts. This study includes a concise summary of the theoretically relevant insights, presents verification of the key factors by qualitative analysis and offers optimal milling parameters for 3D-printed thermoplastics based on systematic experiments.

The purpose of this paper is to investigate the effect of NaCl solution with different concentrations on impact-sliding fretting corrosion behavior of Inconel 690TT steam generator heat transfer tubes.

The optical 3D profiler was used to measure the wear profile and calculated the wear volume. Corrosion behavior was studied using open circuit potential monitoring and potentiodynamic polarization testing. The morphologies and elemental distributions of wear scars were analyzed using scanning electron microscopy and energy-dispersive spectroscopy. The synergism of wear and corrosion was analyzed according to the ASTM G119 standard.

The corrosion tendency reflected by OCP and the corrosion current calculated by Tafel both increased with the increase of NaCl concentration. The total volume loss of the material increased with concentration, and it was known from the synergism that the volume loss caused by corrosion-enhanced wear accounted for the largest proportion, while the wear-enhanced corrosion also made a greater contribution to volume loss than tangential fretting corrosion. Through the analysis of the material morphologies and synergism of wear and corrosion, the damage mechanism was elucidated.

The research findings can provide reference for impact-sliding fretting corrosion behavior of Inconel 690TT heat transfer tubes in NaCl solution with different concentrations.

The purpose of this study is to produce a low-cost sheet metal forming mold made from the low melting point Bi58Sn42 (bismuth) alloy by using an open-source desktop-type material extrusion additive manufacturing system and to evaluate the performance of the additively manufactured mold for low volume sheet metal forming. Thus, it was aimed to develop a fast and inexpensive die tooling methodology for low-volume batch production.

Initially, the three-dimensional printing experiments were performed to produce the sheet metal forming mold. The encountered problems during the performed three-dimensional printing experiments were analyzed. Accordingly, both tunings in process parameters (extrusion temperature, extrusion multiplier, printing speed, infill percentage, etc.) and customizations on the extruder head of the available material extrusion additive manufacturing system were made to print the Bi58Sn42 alloy properly. Subsequently, the performance of the additively manufactured mold was evaluated according to the dimensional change that occurred on it during the performed pressing operations.

Results showed that the additively manufactured mold was rigid enough and proved to have sufficient strength in sheet metal forming operations for low-volume production.

Alternative mold production was carried out using open-source material extrusion system for low volume sheet metal part production. Thus, cost effective solution was presented for agile manufacturing.

Fairy tales and their movie counterparts have, for decades, been a means of socialising children and audiences regarding gender (e.g., Shewmaker, 2015; Whitley, 2013). Specifically, Disney movies that portray fairy tales have strongly influenced how young children learn gender roles and gendered behaviours, yet deeper examination is needed of how Disney portrayals of masculinities have evolved among these films and across character type to understand how Disney may be reflecting or impacting dominant representations of masculinity that privilege certain identities and characteristics over others (Brode, 2016). While previous work has examined Pixar films as socio-culturally meaningful for representations of boyhood that remain grounded in traditional, hegemonic notions of masculinity (Wooden & Gillam, 2014), this chapter adds to the body of work by employing a critical content analysis of Disney films from Snow White and the Seven Dwarfs to Disney's most recent addition of Strange World to answer the questions about how masculinities are portrayed. Through answering these questions of evolved representation throughout close to a century amount of work, we contribute to scholarship that attempts to understand media influences on boyhood culture, which is considered in crisis due to overemphasised representations of powerful, strong male characters that hide their emotions (Brode, 2016; Wooden & Gillam, 2014).

In our societal context, the neoliberal competitive and knowledge-oriented culture still exerts a stranglehold on teachers' sense of professional autonomy giving rise to a deficit image of them as ‘excessively entitled’. The purpose of this chapter is to eschew this deficit view of teachers by bringing their agentive side to the fore. First, it explores the concept of ‘excessive teacher entitlement’ in terms of the prevalent characteristics of the culture of teaching in schools and the nature of authority wielded by teachers in this culture and its negative consequence on student learning using an excerpt from an English as Second Language (ESL) classroom in India where this study is set. This episode helps expose the teacher's unawareness of the gaps between their intention and action, a hallmark of excessive entitlement. Second, it juxtaposes an alternative image of ‘teacher as researcher’ to foreground teachers' ‘transformative activist stance’ which revolves around their ideological becoming in agentively striving to realise their ‘best-loved self’. Framed within Vygotskian Cultural-Historical Activity Theory, the principle of ‘double stimulation’ provides a powerful analytical lens to unpack the complex discursive dynamics of their practice nested within historically developing contradictions. These contradictions work tacitly to drive a wedge between teachers' intentions and action making them feel excessively entitled to passively acquiesce with the existing order of things. This study provides some signposts for teacher education about creating an environment where teachers can reclaim their transformative agency freeing themselves from the ‘excessive entitlement’ that binds their practice to the status quo and diminishes their relationships with students.

The investigation concentrated on studying a distinct category of tubular heat exchanger that uses swirling airflow over tube bundle maintained at constant heat flux. Swirl flow is achieved using a novel perforated baffle plate with rectangular openings and multiple adjustable opposite-oriented saw-tooth flow deflectors. These deflectors were strategically placed at the inlet of the heat exchanger to create a swirling flow downstream.

The custom-built axial flow heat exchanger consists of three baffle plates arranged longitudinally supporting tube bundle maintained at constant heat flux. The baffle plate equipped with saw-tooth flow deflector of various geometry represented by space height ratio(e/h). Next, ambient air was then directed over the tube bundle at varying Reynolds number and the effect of baffle spacing (PR), Space height ratio (e/h) and inclination angle(a) of deflectors on performance of heat exchanger was experimentally analyzed.

The heat transfer augmentation of heat exchanger for given operating condition is strongly dependent on geometry, inclination angle of deflector and baffle spacing.

An average improvement of 1.42 times in thermal enhancement factor was observed with inclination angle of 30°, space height ratio of 0.4 and a pitch ratio of 1.2 when compared to a heat exchanger without a baffle plate under similar operating conditions.

The spatial–temporal conflicts in the construction process of concrete arch dams are related to the construction quality and duration, especially for pouring blocks with a continuous high-strength and high-density construction process. Furthermore, the complicated construction technology and limited space resources aggravate the spatial–temporal conflicts in the process of space resource allocation and utilization, directly affecting the pouring quality and progress of concrete. To promote the high-strength, quality-preserving and rapid construction of dams and to clarify the explosion moment and influence degree of the spatial–temporal conflicts of construction machinery during the pouring process, a quantification method and algorithm for a “Conflict Bubble” (CB) between construction machines is proposed based on the “Time–Space Microelement” (TSM).

First, the concept of a CB is proposed, which is defined as the spatial overlap of different entities in the movement process. The subsidiary space of the entity is divided into three layered spaces: the physical space, safe space and efficiency space from the inside to the outside. Second, the processes of “creation,” “transition” and “disappearance” of the CB at different levels with the movement of the entity are defined as the evolution of the spatial–temporal state of the entity. The mapping relationship between the spatial variation and the running time of the layered space during the movement process is defined as “Time–Space” (TS), which is intended to be processed by a microelement.

The quantification method and algorithm of the CB between construction machinery are proposed based on the TSM, which realizes the quantification of the physical collision accident rate, security risk rate and efficiency loss rate of the construction machinery at any time point or time period. The risk rate of spatial–temporal conflicts in the construction process was calculated, and the outbreak condition of spatial–temporal conflict in the pouring process was simulated and rehearsed. The quantitative calculation results show that the physical collision accident rate, security risk rate and efficiency loss rate of construction machinery at any time point or time period can be quantified.

This study provides theoretical support for the quantitative evaluation and analysis of the spatial–temporal conflict risk in the pouring construction process. It also serves as a reference for the rational organization and scientific decision-making for pouring blocks and provides new ideas and methods for the safe and efficient construction and the scientific and refined management of dams.

This paper aims to enhance the machining accuracy of hybrid robots by treating the moving platform as the first joint of a serial robot for direct position measurement and integrating external grating sensors with motor encoders for real-time error compensation.

Initially, a spherical coordinate system is established using one linear and two circular grating sensors. This system enables direct acquisition of the moving platform’s position in the hybrid robot. Subsequently, during the coarse interpolation stage, the motor command for the next interpolation point is dynamically updated using error data from external grating sensors and motor encoders. Finally, fuzzy proportional integral derivative (PID) control is applied to maintain robot stability post-compensation.

Experiments were conducted on the TriMule-600 hybrid robot. The results indicate that the following errors of the five grating sensors are reduced by 94%, 93%, 80%, 75% and 88% respectively, after compensation. Using the fourth drive joint as an example, it was verified that fuzzy adaptive PID control performs better than traditional PID control.

The proposed online error compensation strategy significantly enhances the positional accuracy of the robot end, thereby improving the actual processing quality of the workpiece.

This method presents a technique for achieving online error compensation in hybrid robots, which promotes the advancement of the manufacturing industry.

This paper proposes a cost-effective and practical method for online error compensation in hybrid robots using grating sensors, which contributes to the advancement of hybrid robot technology.