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The purpose of this paper is to propose a two-degrees-of-freedom wire-driven 4SPS/U rigid‒flexible parallel trunk joint mechanism based on spring, in order to improve the robot’s athletic ability, load capacity and rigidity, and to ensure the coordination of multi-modal motion.

First, based on the rotation transformation matrix and closed-loop constraint equation of the parallel trunk joint mechanism, the mathematical model of its inverse position solution is constructed. Then, the Jacobian matrix of velocity and acceleration is derived by time derivative method. On this basis, the stiffness matrix of the parallel trunk joint mechanism is derived on the basis of the principle of virtual work and combined with the deformation effect of the rope driving pair and the spring elastic restraint pair. Then, the eigenvalue distribution of the stiffness matrix and the global stiffness performance index are used as the stiffness evaluation index of the mechanism. In addition, the performance index of athletic dexterity is analyzed. Finally, the distribution map of kinematic dexterity and stiffness is drawn in the workspace by numerical simulation, and the influence of the introduced spring on the stiffness distribution of the parallel trunk joint mechanism is compared and analyzed. It is concluded that the stiffness in the specific direction of the parallel trunk joint mechanism can be improved, and the stiffness distribution can be improved by adjusting the spring elastic structure parameters of the rope-driven branch chain.

Studies have shown that the wire-driven 4SPS/U rigid‒flexible parallel trunk joint mechanism based on spring has a great kinematic dexterity, load-carrying capacity and stiffness performance.

The soft-mixed structure is not mature, and there are few new materials for the soft-mixed mixture; the rope and the rigid structure are driven together with a large amount of friction and hindrance factors, etc.

It ensures that the multi-motion mode hexapod mobile robot can meet the requirement of sufficient different stiffness for different motion postures through the parallel trunk joint mechanism, and it ensures that the multi-motion mode hexapod mobile robot in multi-motion mode can meet the performance requirement of global stiffness change at different pose points of different motion postures through the parallel trunk joint mechanism.

The trunk structure is a very critical mechanism for animals. Animals in the movement to achieve smooth climbing, overturning and other different postures, such as centipede, starfish, giant salamander and other multi-legged animals, not only rely on the unique leg mechanism, but also must have a unique trunk joint mechanism. Based on the cooperation of these two mechanisms, the animal can achieve a stable, flexible and flexible variety of motion characteristics. Therefore, the trunk joint mechanism has an important significance for the coordinated movement of the whole body of the multi-sport mode mobile robot (Huang Hu-lin, 2016).

In this paper, based on the idea of combining rigid parallel mechanism with wire-driven mechanism, a trunk mechanism is designed, which is composed of four spring-based wire-driven 4SPS/U rigid‒flexible parallel trunk joint mechanism in series. Its spring-based wire-driven 4SPS/U rigid‒flexible parallel trunk joint mechanism can make the multi-motion mode mobile robot have better load capacity, mobility and stiffness performance (Qi-zhi et al., 2018; Cong-hao et al., 2018), thus improving the environmental adaptability and reliability of the multi-motion mode mobile robot.

Giant orthogonal grid barrel vault is generated by deleting members in the inessential force transfer path of the two-layer lattice barrel vault. Consisting of members in the essential transfer path only, giant orthogonal grid barrel vault is a new type of structure with clear mechanical behavior and efficient material utilization. The paper aims to discuss this issue.

The geometrical configuration of this structure is analyzed, and the geometrical modeling method is proposed. When necessary parameters are determined, such as the structural span, length, vault rise, longitudinal and lateral giant grid number and section height to top chord length ratio of the lattice member, the structure geometrical model can be generated.

Numerical models of giant orthogonal grid barrel vaults with different rise–span ratios are built using the member model that can simulate the pre-buckling and post-buckling behavior. So the possible member buckle-straighten process and the plastic hinge form–disappear process of the structure under strong earthquake can be simulated.

Seismic analysis results indicate that when the structure damages under strong earthquake there are a large number of buckling members and few endpoint plastic hinges in the structure. Dynamic damage of giant orthogonal grid barrel vault under strong earthquake is caused by buckling members that weaken the structural bearing capacity.

The purpose of this study is to investigate a new and innovative sandwich material evaluating its capability for use in space habitat structural components in deployable and foldable configurations. The main habitat requirements were considered in the preliminary design of a typical space outpost, proposing a preliminary architecture.

The stiffness properties of the innovative sandwich (MAdFlex ®) were evaluated using numerical and experimental investigations. Four-point bending tests were performed for complete sandwich characterization. Numerical FE simulations were performed using typical material properties and performance. The application to a space habitat main structure as a basic material has also been discussed and presented.

MAdFlex basic stiffness performances have been determined considering its double behavior: sufficiently stiff if loaded in a specific direction, flexible if loaded in the opposite direction and enhanced folding performance. Successful application to a typical space habitat confirms the validity and convenience of such a material in designing alternative structures.

The innovative material demonstrates wide potential for structural application and design in demanding space situations under operating conditions and in stored ones at launch.

Several simple deployable structural components can be designed and optimized both for the space environment and for the more traditional terrestrial applications.

Simplification in structural design can be derived from deployable low-weight items.

Innovative customized material in sandwich configuration has been proposed and investigated with the aim to demonstrate its potentiality and validity in alternative design architecture.

Vision, audition, olfactory, tactile and taste are five important senses that human uses to interact with the real world. As facing more and more complex environments, a sensing system is essential for intelligent robots with various types of sensors. To mimic human-like abilities, sensors similar to human perception capabilities are indispensable. However, most research only concentrated on analyzing literature on single-modal sensors and their robotics application.

This study presents a systematic review of five bioinspired senses, especially considering a brief introduction of multimodal sensing applications and predicting current trends and future directions of this field, which may have continuous enlightenments.

This review shows that bioinspired sensors can enable robots to better understand the environment, and multiple sensor combinations can support the robot’s ability to behave intelligently.

The review starts with a brief survey of the biological sensing mechanisms of the five senses, which are followed by their bioinspired electronic counterparts. Their applications in the robots are then reviewed as another emphasis, covering the main application scopes of localization and navigation, objection identification, dexterous manipulation, compliant interaction and so on. Finally, the trends, difficulties and challenges of this research were discussed to help guide future research on intelligent robot sensors.

Focusing on two beer festivals held in Nottingham, England, this study aims to evaluate their indirect impact on the performance of city hotels. This study builds on theoretical insights from the revenue management literature to shed empirical light on the potentially beneficial effects of events on the hotels’ performance. This study investigates the impact of the differential support offered by the destination management organisation (DMO) over two years.

Using online prices posted in advance of the events on an online travel agent, the authors assess hotel performance for each day of the events relative to the same day of the week in a week with no event. A similar comparison is made to assess the impact across two different years. In both cases, an ordinary least squares methodology was used.

Both events appear not to have had a strong impact on hotel prices and occupancy in 2016, i.e. when the DMO’s promotional effort was more proactive. Instead, in 2017, one event registered higher hotel prices and occupancy both relative to the year before and to the “business as usual” week.

The study identifies the existence of an indirect positive economic impact of the events on the hospitality sector.

The investigation adopts a more naturalistic experimental design to collect the data, which allows the authors to control for both the impact on prices and occupancy at the level of the single hotel. The evidence is therefore micro-founded. Moreover, results shed light on the role played by the DMO.