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The paper aims to provide a structured framework for comparing different productivity estimation methodologies and evaluate their sensitivity to operational coefficients variation for excavation operations.

Two process‐oriented methodologies were analysed in a deterministic fashion in terms of their input requirements and their respective outputs. A phase‐oriented framework was presented to enable their comparison. The research methodology allows the estimation of excavation productivity in relation to the selected operational coefficients.

The system productivity is significantly influenced by operational conditions, such as the digging depth and the swing angle from the excavation front to the dumping position. Each methodology presents a differing sensitivity to every operational factor. Since the excavator is considered as the system's leading resource, the variation on productivity has direct implications for the truck fleet size and the unit cost of operations.

The proposed approach is useful in analyzing process‐oriented productivity estimation methodologies under a given set of operational coefficients when no historical data is available. Thus, it provides an alternative to intuitive estimates based solely on personal judgment. The concept of “baseline reference” conditions is introduced, so as to enable the transformation of any operational scenario into equivalent mathematical models that allow comparisons between different estimation methodologies and computational approaches.

Due to the complex mechanism during walking, human gait takes plenty of information reflecting human motion. The method of quantitative measurement of gait makes a profound influence in many fields, such as clinical medicine, biped robot control strategy and so on. The purpose of this paper is to present a gait analysis system based on inertial measurement unit (IMU) and combined with body sensor network (BSN).

The authors placed two wireless inertial nodes on the left and right ankles, so that the acceleration and angular velocity could be obtained from both sides at the same time. By using the kinematical model of the human gait, many methods such as time series analysis, pattern recognition and numerical analysis, are introduced to fuse the inertial data and estimate the sagittal gait parameters.

The gait parameters evaluation gains a practical precision, especially in the gait phase detection and the process of how the two feet cooperate with each other has been analyzed to learn about the mechanism of biped walking.

The gait analysis procedure is off line, so that the system ensures sampling at a high rate.

This gait analysis system can be utilized to measure quantitative gait parameters. Further, the coordination of dual gait pattern is presented. Last but not least, the system can also be put into capturing and analyzing the motion of other parts of the body.

Excellent obstacle surmounting performance is essential for the robotic vehicles in uneven terrain. However, existing robotic vehicles depend on complex mechanisms or control algorithms to surmount an obstacle. Therefore, this paper aims to propose a new simple configuration of an all-terrain robotic vehicle with eight wheels including four-swing arms.

This vehicle is driven by distributed hydraulic motors which provide high mobility. It possesses the ability to change the posture by means of cooperation of the four-swing arms. This ensures that the vehicle can adapt to complex terrain. In this paper, the bionic mechanism, control design and steering method of the vehicle are introduced. Then, the kinematic model of the center of gravity is studied. Afterward, the obstacle surmounting performance based on a static model is analyzed. Finally, the simulation based on ADAMS and the prototype experiment is carried out.

The experiment results demonstrate that the robotic vehicle can surmount an obstacle 2.29 times the height of the wheel radius, which verifies the feasibility of this new configuration. Therefore, this vehicle has excellent uneven terrain adaptability.

This paper proposes a new configuration of an all-terrain robotic vehicle with four-swing arms. With simple mechanism and control algorithms, the vehicle has a high efficiency of surmounting an obstacle. It can surmount a vertical obstacle 2.29 times the height of the wheel radius.

The purpose of this paper is to demonstrate the applicability of the Discrete Empirical Interpolation method (DEIM) for simulating the swing dynamics of benchmark power system problems. The authors demonstrate that considerable savings in computational time and resources are obtained using this methodology. Another purpose is to apply a recently developed modified DEIM strategy with a reduced on-line computational burden on this problem.

On-line computational cost of the power system dynamics problem is reduced by using DEIM, which reduces the complexity of the evaluation of the nonlinear function in the reduced model to a cost proportional to the number of reduced modes. The on-line computational cost is reduced by using an approximate snap-shot ensemble to construct the reduced basis.

Considerable savings in computational resources and time are obtained when DEIM is used for simulating swing dynamics. The on-line cost implications of DEIM are also reduced considerably by using approximate snapshots to construct the reduced basis.

Applicability of DEIM (with and without approximate ensemble) to a large-scale power system dynamics problem is demonstrated for the first time.

The purpose of this paper is to build a seven‐degrees of freedom (DOF) parallel‐serial robot system which has the advantage of mechanical novelty and simplicity compared with the existing platforms, and to share the experience of converting a popular motion base to an industrial robot for use in full‐mission tank training processes of three armored arms.

By studying the concept of the robot system, a novel parallel‐serial robot with seven DOF driven by electrical servo motors is built. And the transmission modules and Hooke joints are explored and designed in detail. Then the inverse kinematics based on coupling compensation and time‐jerk synthetic optimization methods for trajectory planning of the simulator are presented and further discussed in order to satisfy the requirements of high stability and perfect performance. In advance, the feasibility and applicability of this triune parallel‐serial robot system are verified.

A prototyped test shows that the performance of the system is of a satisfaction with real‐time tracking any trajectories given by the visual system smoothly. Finally, the characteristics of the robot system are realized and verified by experiments and an industrial application.

The triune full‐mission tank training simulator developed in this paper has been used in the military industry and it has a great potential application.

This successful usage of the novel and simple parallel robot system in the military industry expands the range of its applications in real‐life task more operators training. And the proposal methods of inverse kinematics based on coupling compensation and trajectory planning enhanced the theoretical research of the parallel robot.

This paper aims to propose an advanced tracking control of the uncertain nonlinear dynamic system using a novel hybrid fuzzy linear quadratic regulator (LQR)-proportional-integral-derivative (PID) sliding mode control (SMC) optimized by differential evolution (DE) algorithm.

First, a swing-up and balancing control is presented for an experimental uncertain nonlinear Pendubot system perturbed with friction. The DE-based optimal SMC scheme is used to optimally swing up the Pendubot system to the top equilibrium position. Then the novel hybrid fuzzy-based on LQR fusion function and PID controller optimized by DE algorithm is innovatively applied for balancing and control the position of the first link of the Pendubot in the down-right position with tracking sinusoidal signal reference.

Experimental results demonstrate the robustness and effectiveness of the proposed approach in balancing control for an uncertain nonlinear Pendubot system perturbed with internal friction.

This manuscript is an original research paper and has never been submitted to any other journal.

The purpose of this paper is to introduce the modeling and implementation of a novel multimode amphibious robot, which is used for patrol and beach garbage cleaning in the land–water transition zone.

Starting from the design idea of multimode motion, the robot innovatively integrates the guiding fin and wheel together, is driven by the same motor and can achieve multimodal motion such as land, water surface and underwater with only six actuated degrees of freedom. The robot dispenses with the transmission mechanism by directly connecting the servo motor with a reducer to the actuator, so it has the characteristics of simplifying the structure and reducing the quality. And to the best of the authors' knowledge, the design of the robot can be considered the minimal configuration of amphibious robots with the same locomotion capabilities.

Based on the classical assumptions of underwater dynamics analysis, this paper uses basic airfoil theory to analyze the dynamics of the robot’s horizontal and vertical motions and establishes its simplified dynamics model. Also, the underwater motion of the robot is simulated, and the results are in good agreement with the existing research results. Finally, to verify the feasibility of the robot, a prototype is implemented and fully evaluated by experiments. Experimental results show that the robot can reach the maximum speed of 2.5 m/s and 0.3 m/s on land and underwater, respectively, proving the effectiveness of the robot.

The robot has higher work efficiency with the powerful multimode motion, and its simplified structure makes it more stable while costing less.

This paper describes models of micro‐turbines and fuel cells, which can be used in stability studies.

The plants models derived are based on the main equations. These models are developed in the Laplace domain and transient simulation is done using a software developed based on the MATLAB package.

The micro‐source is capable of providing effective load‐following service in the distribution system. However, the results also show that the micro‐source is not an uninterruptible power supply and does not protect the load from voltage instability while in grid‐connect mode. When a micro‐turbine plant is connected to a point where it gives support to a load in fault conditions, the lower the inertia of micro‐turbine plant, the greater is the destabilizing tendency for faults in the distribution system. On the other hand, transient stability is enhanced with aid of the SOFC inverter.

The effects of these micro‐sources on the network performance are shown and a distribution system embedded with the micro‐sources is used as an example. Finally, transient stability and voltage stability of the system are investigated.

This paper presents a newly developed algorithm for selecting and locating mobile cranes on construction sites. The algorithm is incorporated into a computer system that integrates a selection module and three databases, dedicated respectively, for cranes, rigging equipment, and projects’ information. This paper focuses primarily on the selection module and its algorithm to support an efficient search for most suitable crane configurations and their associated lift settings. Data pertinent to crane lift configurations and settings are retrieved from the databases and processed to determine the near optimum selection of a crane configuration. The developed selection module features powerful graphics capabilities and a practical user‐friendly interface, designed to facilitate the considerations of user imposed lift and site constraints. The selection algorithm has been implemented within the crane selection module using MS‐Visual Basic programming language. A case example is presented in order to demonstrate the use of the developed selection module and to illustrate its essential features.

The share of renewable energy sources (RESs) in the power system is increasing day by day. The RESs are intermittent, therefore maintaining the grid stability and power balance is very difficult. The purpose of this paper is to control the inverters in microgrid using different control strategies to maintain the system stability and power balance.

In this paper, different control strategies are implemented to the voltage source converter (VSC) to get the desired performance. The DQ control is a basic control strategy that is inherently present in the droop and virtual synchronous machine (VSM) control strategies. The droop and VSM control strategies are inspired by the conventional synchronous machine (SM). The main objective of this work is to design and implement the three aforementioned control strategies in microgrid.

The significant contributions of this work are: the detailed implementation of DQ control, droop control and VSM control strategies for VSC in both grid-connected mode and standalone mode is presented; the MATLAB/Simulink simulation results and comparative studies of the three aforementioned controllers are introduced first time in the proposed work; and the opal-RT digital real-time simulation results of the proposed VSM control show the superiority in transient response compared to the droop control strategy.

In the power system, the power electronic-based power allowed by VSM is dominated by the conventional power which is generated from the traditional SM, and then the issues related to stability still need advance study. There are some differences between the SM and VSM characteristics, so the integration of VSM with the existing system still needs further study. Economical operation of VSM with hybrid storage is also one of the future scopes of this work.

The significant contributions of this work are: the detailed implementation of DQ control, droop control and VSM control strategies for VSC in both grid-connected mode and standalone mode is presented; the MATLAB/Simulink simulation results and comparative studies of the three aforementioned controllers are introduced first time in the proposed work; and the opal-RT digital real-time simulation results of the proposed VSM control show the superiority in transient response compared to the droop control strategy.