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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.

Currently, China’s manufacturing industry chain still faces the danger of chain breakage due to the persistent “lack of technology” issue. The definition and detection of key nodes in the industry chain are significant to the enhancement of the stability of the industry chain. Therefore, detecting the key nodes in the manufacturing industry chain is necessary.

A complex network based on the links amongst listed manufacturing enterprises is built, and the authors analyse the network’s basic characteristics and vulnerability, taking into account the impact of scientific and technological innovation on the stability of the industry chain.

It is found that the high structural characteristic of midstream nodes in the naval architecture and marine engineering equipment industry chain determines their importance to stability, and the key status of upstream nodes is reflected in the weakness of technological innovation. The upstream nodes should focus on improving their independent innovation and R&D capability, whilst the midstream nodes should maintain a close supply–demand cooperation relationship.

The key node detection model for industry chain stability is constructed by considering various factors from the perspective of network and technological innovation. Empirical study is conducted to verify effectiveness of proposed method.

Proper platform pose is important for the mobile manipulator to accomplish dexterous manipulation tasks efficiently and safely, and the evaluation criterion to qualify manipulation performance is critical to support the pose decision process. This paper aims to present a comprehensive index to evaluate the manipulator’s operation performance from various aspects.

In this research, a criterion called hybrid manipulability (HM) is proposed to assess the performance of the manipulator’s operation, considering crucial factors such as joint limits, obstacle avoidance and stability. The determination of the optimal platform pose is achieved by selecting the pose that maximizes the HM within the feasible inverse reachability map associated with the target object.

A self-built mobile manipulator is adopted as the experimental platform, and the feasibility of the proposed method is experimentally verified in the context of object-grasping tasks both in simulation and practice.

The proposed HM extends upon the conventional notion of manipulability by incorporating additional factors, including the manipulator’s joint limits, the obstacle avoidance situation during the operation and the manipulation stability when grasping the target object. The manipulator can achieve enhanced stability during grasping when positioned in the pose determined by the HM.

The purpose of this paper is the dynamic analysis and seismic damage assessment of steel sheet pile quay wall with inelastic behavior underground motions using several accelerograms.

Finite element analysis is conducted using the Plaxis 2D software to generate the numerical model of quay wall. The extension of berth 25 at the port of Bejaia, located in northeastern Algeria, represents a case study. Incremental dynamic analyses are carried out to examine variation of the main response parameters under seismic excitations with increasing Peak ground acceleration (PGA) levels. Two global damage indices based on the safety factor and bending moment are introduced to assess the relationship between PGA and the damage levels.

The results obtained indicate that the sheet pile quay wall can safely withstand seismic loads up to PGAs of 0.35 g and that above 0.45 g, care should be taken with the risk of reaching the ultimate moment capacity of the steel sheet pile. However, for PGAs greater than 0.5 g, it was clearly demonstrated that the excessive deformations with material are likely to occur in the soil layers and in the structural elements.

The main contribution of the present work is a new double seismic damage index for a steel sheet pile supported quay wharf. The numerical modeling is first validated in the static case. Then, the results obtained by performing several incremental dynamic analyses are exploited to evaluate the degradation of the soil safety factor and the seismic capacity of the pile sheet wall. Computed values of the proposed damage indices of the considered quay wharf are a practical helping tool for decision-making regarding the seismic safety of the structure.

The purpose of this study is to empirically examine the cause–effect relationships between workplace friendship and knowledge-sharing behavior, from a static perspective. Furthermore, it investigates the bi-directional relationship between the increase in both workplace friendship and knowledge-sharing behavior over same time periods, and also endeavors to identify whether there is a significant negative lagged effect of the increase in both workplace friendship on knowledge-sharing behavior, and vice versa, across time from a dynamic perspective.

The study conducts a three-wave questionnaire survey to test the research model. A latent change score approach was used to test the direct relationship between changes in workplace friendship and changes in knowledge-sharing behavior.

The findings reveal that knowledge-sharing behavior fosters workplace friendship and workplace friendship promotes the emergence of knowledge-sharing behavior. An increase in workplace friendship promotes an increase in knowledge-sharing behavior over same time periods. However, an increase in workplace friendship will lead to a lagged decrease of knowledge-sharing behavior across time, and vice versa.

The time interval in this study is a little short to capture the full changes in workplace friendship. Some important control factors and mediating mechanisms are not included in the research model.

This study guides managers to focus on various motivators to better strengthen workplace friendship and knowledge-sharing behavior and to consider and effectively respond to the negative side of workplace friendship and knowledge-sharing behavior across time.

This study emphasizes the predictivity of one important interaction patterns, namely, knowledge-sharing behavior on friendship at the workplace, from a static perspective. This study also shows the benefits of an increase in workplace friendship for the development of knowledge-sharing behavior in the same time period. Furthermore, the study presents a counterintuitive finding when taking the lag effect into consideration in exploring the relationship between changes both in workplace friendship and knowledge-sharing behavior, and identifies a negative side of both when viewed over longer periods.

This study aims to enhance the lubrication performance of thrust bearings. The influence of columnar convex–concave compound microtexture on bearing performance is investigated

Based on the compound microtexture model of thrust bearings, considering surface roughness and turbulent effect, the variation of lubrication characteristics with the change in the compound microtexture parameters is studied.

The results indicate that, compared with circular microtexture, the maximum pressure of compound microtexture of thrust bearings increases by 7.42%. Optimal bearing performance is achieved when the internal microtexture depth is 0.02 mm. Turbulent flow states and surface roughness lead to a reduction in the optimal depth. The maximum pressure and load-carrying capacity of the bearing decrease as the initial angle increases, whereas the friction coefficient increases with the increase in the initial angle. The lubrication performance is best for bearings with a circumferential parallel arrangement of microtexture.

The novel composite microtexture with columnar convex-concave is proposed, and the computational model of thrust bearings is set. The influence of surface roughness and turbulent flow on the bearing performance should be considered for better conforming with engineering practice. The effect of microtexture depth, arrangement method and distribution position on the lubrication performance of the compound microtexture thrust bearing is investigated, which is of great significance for improving tribology, thrust bearings and surface microtexture theory.

This study aims to improve the maneuverability and stability of four-wheel chassis in a small paddy field; a front axle swing steering four-wheel chassis with optimal steering is designed.

When turning, the front inner wheel stops and the rear inner wheel is in the following state. The hydraulic drive system of the walking wheel adopts a driving mode in which two front-wheel motors are connected in series and two rear wheel motors in parallel. The chassis uses a combination of a gasoline engine with a water cooling system, a CVT continuously variable transmission and a hydraulic drive system to increase the control capability. The front axle rotary chassis adopts a step-less variable speed engine and a hydraulic control system to solve the hydraulic stability of the chassis in uphill and downhill conditions so as to effectively control the over-speed of the wheel-side drive motors. Through the quadratic orthogonal rotation combination design test, the mathematical models of uphill and downhill front-wheel pressures and test factors are established.

The results show that the chassis stability is optimal when the back pressure is 0.5 MPa, and the rotating slope is 4°. The uphill and downhill pressures of the front wheels are 2.38 MPa and 1.5 MPa, respectively.

The influence of external changes on the pressure of hydraulic motors is studied through experiments, which lays the foundation for further research.

This chapter shares the challenges that scholars experienced during the pandemic and their responses to them. We find that participants responded to complex work and home challenges through ethics of grit and perseverance. Offering a caution against grit mindsets, we argue that academics would benefit from opportunities to develop fuller forms of resilience. To do so, we recommend that higher education institutions co-construct locally and culturally relevant conceptualisations of resilience and enact trauma-informed practice to better support academic resilience in their faculties.

This paper aims to present numerical simulations for a series of flight processes for the postlaunching stage of the “balloon-borne UAV system.” It includes the balloon further ascent motion after airborne launching. In terms of unmanned aerial vehicles (UAVs), the tailspin state and the charge-out process with an anti-tailspin parachute-assisted suspending are analyzed. Then, the authors conduct trajectory optimization simulations for the long-distance gliding process.

The balloon kinematics model and the parachute Kane multibody dynamic model are established. Using steady-state tailspin to reduced-order analysis and achieving change-out simulation by parachute suspension dynamic model. A reentry optimization control problem is developed and the Radau pseudo-spectral method is used to calculate the glide trajectory.

The established dynamic model and trajectory optimization method can effectively simulate the motion process of balloons and UAVs. The system mass reduction for launching UAVs will not cause damage to the balloon structure. The anti-tailspin parachute can reduce the UAV attack angles effectively. The UAV can glide to the designated target position by adjusting the attack angle and sideslip angle. The farthest flight distance after launching from 20 km height is 94 km and the gliding time is 40 min, which demonstrates the potential application advantage of high-altitude launching.

The research content and related conclusions of this article achieve a closed-loop analysis of the flight mission chain for the “balloon-borne UAV system,” which provides simulation references for relevant balloon launching experiments.

This paper establishes a complete set of numerical simulation models and can effectively analyze various postlaunching behaviors.

The purpose of this paper is to compare the influence of relative density (RD) and strain rates on failure mechanism and specific energy absorption (SEA) of polyamide lattices ranging from bending to stretch-dominated structures using selective laser sintering (SLS).

Three bending and two stretch-dominated unit cells were selected based on the Maxwell stability criterion. Lattices were designed with three RD and fabricated by SLS technique using PA12 material. Quasi-static compression tests with three strain rates were carried out using Taguchi's L9 experiments. The lattice compressive behaviour was verified with the Gibson–Ashby analytical model.

It has been observed that RD and strain rates played a vital role in lattice compressive properties by controlling failure mechanisms, resulting in distinct post-yielding responses as fluctuating and stable hardening in the plateau region. Analysis of variance (ANOVA) displayed the significant impact of RD and emphasised dissimilar influences of strain rate that vary to cell topology. Bending-dominated lattices showed better compressive properties than stretch-dominated lattices. The interesting observation is that stretch-dominated lattices with over-stiff topology exhibited less compressive properties contrary to the Maxwell stability criterion, whereas strain rate has less influence on the SEA of face-centered and body-centered cubic unit cells with vertical and horizontal struts (FBCCXYZ).

This comparative study is expected to provide new prospects for designing end-user parts that undergo various impact conditions like automotive bumpers and evolving techniques like hybrid and functionally graded lattices.

To the best of the authors' knowledge, this is the first work that relates the strain rate with compressive properties and also highlights the lattice behaviour transformation from ductile to brittle while the increase of RD and strain rate analytically using the Gibson–Ashby analytical model.