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The transient loads on the spherical hybrid sliding bearings (SHSBs) rotor system during the process of accelerating to stable speed are related to time, which exhibits a complex transient response of the rotor dynamics. The current study of the shaft center trajectory of the SHSBs rotor system is based on the assumption that the rotational speed is constant, which cannot truly reflect the trajectory of the rotor during operation. The purpose of this paper truly reflects the trajectory of the rotor and further investigates the stability of the rotor system during acceleration of SHSBs.

The model for accelerated rotor dynamics of SHSBs is established. The model is efficiently solved based on the fourth-order Runge–Kutta method and then to obtain the shaft center trajectory of the rotor during acceleration.

Results show that the bearing should choose larger angular acceleration in the acceleration process from startup to the working speed; rotor system is more stable. With the target rotational speed increasing, the changes in the shaft trajectory of the acceleration process are becoming more complex, resulting in more time required for the bearing stability. When considering the stability of the rotor system during acceleration, the rotor equations of motion provide a feasible solution for the simulation of bearing rotor system.

The study can simulate the running stability of the shaft system from startup to the working speed in this process, which provides theoretical guidance for the stability of the rotor system of the SHSBs in the acceleration process.

The paper aims to solve the problem of personnel intrusion identification within the limits of high-speed railways. It adopts the fusion method of millimeter wave radar and camera to improve the accuracy of object recognition in dark and harsh weather conditions.

This paper adopts the fusion strategy of radar and camera linkage to achieve focus amplification of long-distance targets and solves the problem of low illumination by laser light filling of the focus point. In order to improve the recognition effect, this paper adopts the YOLOv8 algorithm for multi-scale target recognition. In addition, for the image distortion caused by bad weather, this paper proposes a linkage and tracking fusion strategy to output the correct alarm results.

Simulated intrusion tests show that the proposed method can effectively detect human intrusion within 0–200 m during the day and night in sunny weather and can achieve more than 80% recognition accuracy for extreme severe weather conditions.

(1) The authors propose a personnel intrusion monitoring scheme based on the fusion of millimeter wave radar and camera, achieving all-weather intrusion monitoring; (2) The authors propose a new multi-level fusion algorithm based on linkage and tracking to achieve intrusion target monitoring under adverse weather conditions; (3) The authors have conducted a large number of innovative simulation experiments to verify the effectiveness of the method proposed in this article.

This paper aims to present a novel approach for computing particle temperatures in simulations coupling computational fluid dynamics (CFD) and discrete element method (DEM) to predict flow and heat transfer in fluidized beds of thermally thick spherical particles.

An improved lumped formulation based on Hermite-type approximations for integrals to relate surface temperature to average temperature and surface heat flux is used to overcome the limitations of classical lumped models. The model is validated through comparisons with analytical solutions for a convectively cooled sphere and experimental data for a fixed particle bed. The coupled CFD-DEM model is then applied to simulate a Geldart D bubbling fluidized bed, comparing the results to those obtained using the classical lumped model.

The validation cases demonstrate that ignoring internal thermal resistance can significantly impact the temperature in cases where the Biot number is greater than 0.1. The results for the fixed bed case clearly demonstrate that the proposed method yields significantly improved outcomes compared to the classical model. The fluidized bed results show that surface temperature can deviate considerably from the average temperature, underscoring the importance of accurately accounting for surface temperature in convective heat transfer predictions and surface processes.

The proposed approach offers a physically more consistent simulation without imposing a significant increase in computational cost. The improved lumped formulation can be easily and inexpensively integrated into a typical DEM solver workflow to predict heat transfer for spherical particles, with important implications for various industrial applications.

Present study aims to extend the lattice Boltzmann method (LBM) to simulate radiation in geometries with curved boundaries, as the first step to simulate radiation in complex porous media. In recent years, researchers have increasingly explored the use of porous media to improve the heat transfer processes. The lattice Boltzmann method (LBM) is one of the most effective techniques for simulating heat transfer in such media. However, the application of the LBM to study radiation in complex geometries that contain curved boundaries, as found in many porous media, has been limited.

The numerical evaluation of the effect of the radiation-conduction parameter and extinction coefficient on temperature and incident radiation distributions demonstrates that the proposed LBM algorithm provides highly accurate results across all cases, compared to those found in the literature or those obtained using the finite volume method (FVM) with the discrete ordinates method (DOM) for radiative information.

For the case with a conduction-radiation parameter equal to 0.01, the maximum relative error is 1.9% in predicting temperature along vertical central line. The accuracy improves with an increase in the conduction-radiation parameter. Furthermore, the comparison between computational performances of two approaches reveals that the LBM-LBM approach performs significantly faster than the FVM-DOM solver.

The difficulty of radiative modeling in combined problems involving irregular boundaries has led to alternative approaches that generally increase the computational expense to obtain necessary radiative details. To address the limitations of existing methods, this study presents a new approach involving a coupled lattice Boltzmann and first-order blocked-off technique to efficiently model conductive-radiative heat transfer in complex geometries with participating media. This algorithm has been developed using the parallel lattice Boltzmann solver.

In complex environments, a spherical robot has great application value. When the pendulum spherical robot is stopped or disturbed, there will be a periodic oscillation. This situation will seriously affect the stability of the spherical robot. Therefore, this paper aims to propose a control method based on backstepping and disturbance observers for oscillation suppression.

This paper analyzes the mechanism of oscillation. The oscillation model of the spherical robot is constructed and the relationship between the oscillation and the internal structure of the sphere is analyzed. Based on the oscillation model, the authors design the oscillation suppression control of the spherical robot using the backstepping method. At the same time, a disturbance observer is added to suppress the disturbance.

It is found that the control system based on backstepping and disturbance observer is simple and efficient for nonlinear models. Compared with the PID controller commonly used in engineering, this control method has a better control effect.

The proposed method can provide a reliable and effective stability scheme for spherical robots. The problem of instability in real motion is solved.

In this paper, the oscillation model of a spherical robot is innovatively constructed. Second, a new backstepping control method combined with a disturbance observer for the spherical robot is proposed to suppress the oscillation.

A multi-laser sensors-based measurement instrument is proposed for the measurement of geometry errors of a differential body and quality evaluation. This paper aims to discuss the aforementioned idea.

First, the differential body is set on a rotation platform before measuring. Then one laser sensor called as “primary sensor”, is installed on the intern of the differential body. The spherical surface and four holes on the differential body are sampled by the primary sensor when the rotation platform rotates one revolution. Another sensor called as “secondary sensor”, is installed above to sample the external cylinder surface and the planar surface on the top of the differential body, and the external cylinder surface and the planar surface are high in manufacturing precision, which are used as datum surfaces to compute the errors caused by the motion of the rotation platform. Finally, the sampled points from the primary sensor are compensated to improve the measurement accuracy.

A multi-laser sensors-based measurement instrument is proposed for the measurement of geometry errors of a differential body. Based on the characteristics of the measurement data, a gradient image-based method is proposed to distinguish different objects from laser measurement data. A case study is presented to validate the measurement principle and data processing approach.

The study investigates the possibility of correction of sensor data by the measurement results of multiple sensors to improving measurement accuracy. The proposed technique enables the error analysis and compensation by the geometric correlation relationship of various features on the measurand.

The proposed error compensation principle by using multiple sensors proved to be useful for the design of new measurement device for special part inspection. The proposed approach to describe the measuring data by image also is proved to be useful to simplify the measurement data processing.

This paper aims to use redundant manipulators to solve the challenge of collision avoidance in construction operations such as welding and painting.

In this paper, a null-space-based task-priority adjustment approach is developed to avoid collisions. The method establishes the relative position of the obstacle and the robot arm by defining the “link space,” and then the priority of the collision avoidance task and the end-effector task is adjusted according to the relative position by introducing the null space task conversion factors.

Numerical simulations demonstrate that the proposed method can realize collision-free maneuvers for redundant manipulators and guarantee the tracking precision of the end-effector task. The experimental results show that the method can avoid dynamic obstacles in redundant manipulator welding tasks.

A new formula for task priority adjustment for collision avoidance of redundant manipulators is proposed, and the original task tracking accuracy is guaranteed under the premise of safety.

Blood availability is critical for saving lives in various healthcare services. Ensuring blood availability can only be achieved through efficient management of the blood supply chain (BSC). A key component of the BSC is bloodmobiles, which are responsible for a significant portion of blood donation collections. The most crucial factor affecting the efficacy of bloodmobiles is their location selection. Therefore, detailed decision analyses are essential for the location selection of bloodmobiles. This study proposes a comprehensive approach to bloodmobile location selection for resilient BSCs.

This study provides a novel integration of the spherical fuzzy analytical hierarchy process (SF-AHP) and spherical fuzzy complex proportional assessment (SF-COPRAS) methodologies. In this framework, the criteria are weighted using SF-AHP. The alternatives are then evaluated using SF-COPRAS, employing criteria weights obtained from SF-AHP without defuzzification.

The results show that supply conditions and resilience are the most important criteria for a bloodmobile location selection. Additionally, the validation analyses confirm the stability of the solution.

This study presents several managerial implications that can aid mid-level managers in the BSC during the decision-making process for bloodmobile location selection. The critical factors revealed, along with their importance in choosing bloodmobile locations, serve as a comprehensive guide. Additionally, the framework proposed in this study offers decision-makers (DMs) an effective method for ranking potential bloodmobile locations.

This study presents the first application of multi-criteria decision-making (MCDM) for bloodmobile location selection. In this manner, several aspects of bloodmobile location selection are considered for the first time in the existing literature. Furthermore, from the methodological aspect, this study provides a novel SF-AHP-integrated SF-COPRAS methodology.

Water pipes degrade over time for a variety of pipe-related, soil-related, operational, and environmental factors. Hence, municipalities are necessitated to implement effective maintenance and rehabilitation strategies for water pipes based on reliable deterioration models and cost-effective inspection programs. In the light of foregoing, the paramount objective of this research study is to develop condition assessment and deterioration prediction models for saltwater pipes in Hong Kong.

As a perquisite to the development of condition assessment models, spherical fuzzy analytic hierarchy process (SFAHP) is harnessed to analyze the relative importance weights of deterioration factors. Afterward, the relative importance weights of deterioration factors coupled with their effective values are leveraged using the measurement of alternatives and ranking according to the compromise solution (MARCOS) algorithm to analyze the performance condition of water pipes. A condition rating system is then designed counting on the generalized entropy-based probabilistic fuzzy C means (GEPFCM) algorithm. A set of fourth order multiple regression functions are constructed to capture the degradation trends in condition of pipelines overtime covering their disparate characteristics.

Analytical results demonstrated that the top five influential deterioration factors comprise age, material, traffic, soil corrosivity and material. In addition, it was derived that developed deterioration models accomplished correlation coefficient, mean absolute error and root mean squared error of 0.8, 1.33 and 1.39, respectively.

It can be argued that generated deterioration models can assist municipalities in formulating accurate and cost-effective maintenance, repair and rehabilitation programs.

This paper aims to estimate contact location from sparse and high-dimensional soft tactile array sensor data using the tactile image. The authors used three feature extraction methods: handcrafted features, convolutional features and autoencoder features. Subsequently, these features were mapped to contact locations through a contact location regression network. Finally, the network performance was evaluated using spherical fittings of three different radii to further determine the optimal feature extraction method.

This paper aims to estimate contact location from sparse and high-dimensional soft tactile array sensor data using the tactile image.

This research indicates that data collected by probes can be used for contact localization. Introducing a batch normalization layer after the feature extraction stage significantly enhances the model’s generalization performance. Through qualitative and quantitative analyses, the authors conclude that convolutional methods can more accurately estimate contact locations.

The paper provides both qualitative and quantitative analyses of the performance of three contact localization methods across different datasets. To address the challenge of obtaining accurate contact locations in quantitative analysis, an indirect measurement metric is proposed.