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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.

The Covid-19 pandemic has profoundly affected urban communities, generating the need for an immediate response from local governance. The availability of urban data platforms in some smart cities helped the relevant actors to develop various solutions in an innovative and highly contextual way. The purpose of this paper is to explore the role of data platforms in smart cities in the context of the Covid-19 crisis.

A total of 85 studies were identified using the Clarivate Analytics Web of Science electronic library. After applying exclusion and inclusion criteria, 61 publications were considered appropriate and reasonable for the research, being read in-depth. Finally, only 52 studies presented relevant information for the topic and were synthesized following the defined research questions. During the research, the authors included in the paper other interesting references found in selected articles and important information regarding the role of data in the fight against Covid-19 in smart cities available on the Internet and social media, with the intention to capture both academic and practical perspectives.

The authors' main conclusion suggests that based on their previous expertise in collecting, processing and analyzing data from multiple sources, some smart cities quickly adapted their data platforms for an efficient response against Covid-19. The results highlight the importance of open data, data sharing, innovative thinking, the collaboration between public and private stakeholders, and the participation of citizens, especially in these difficult times.

The city managers and data operators can use the presented case studies and findings to identify relevant data-driven smart solutions in the fight against Covid-19 or another crisis.

The performance of smart cities is a social concern since the population of urban communities is continuously growing. By reviewing the adoption of information technologies-based solutions to improve the quality of citizens' life, the paper emphasizes their potential in societies in which information technology is embedded, especially during a major crisis.

This research re-emphasizes the importance of collecting data in smart cities, the role of the diversity of their sources and the necessity of citizens, companies and government synergetic involvement, especially in a pandemic context. The existence of smart solutions to process and extract information and knowledge from large data sets was essential for many actors involved in smart cities, helping them in the decision-making process. Based on previous expertise, some smart cities quickly adapted their data platforms for an efficient response against Covid-19. The paper analyzes also these success cases that can be considered models to be adopted by other municipalities in similar circumstances.

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.

Notable energy losses and voltage deviation issues in low-voltage radial distribution systems are a major concern for power planners and utility companies because of the integration of electric vehicles (EVs). Electric vehicle charging stations (EVCSs) are the key components in the network where the EVs are equipped to energize their battery. The purpose of this paper is coordinating the EVCS and distributed generation (DG) so as to place them optimally using swarm-based elephant herding optimization techniques by considering energy losses, voltage sensitivity and branch current as key indices. The placement and sizing of the EVCS and DG were found in steps.

The IEEE 33-bus test feeder and 52-bus Indian practical radial networks were used as the test system for the network characteristic analysis. To enhance the system performance, the radial network is divided into zones for the placement of charging stations and dispersed generation units. Balanced coordination is discussed with three defined situations for the EVCS and DG.

The proposed analysis shows that DG collaboration with EVCS with suitable size and location in the network improves the performance in terms of stability and losses.

Stability and loss indices are handled with equal weight factor to find the best solution.

The proposed method is coordinating EVCS and DG in the existing system; the EV integration in the low-voltage side can be incorporated suitably. So, it has societal impact.

In this study, the proposed method shows improved results in terms EVCS and DG integration in the system with minimum losses and voltage sensitivity. The results have been compared with another population-based particle swarm optimization method (PSO). There is an improvement of 18% in terms of total power losses and 9% better result in minimum node voltage as compared to the PSO technique. Also, there is an enhancement of 33% in the defined voltage stability index which shows the proficiency of the proposed analysis.