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The purpose of this paper is to propose a smooth double-spline interpolation method for six-degree-of-freedom rotational robot manipulators, achieving the global C2 continuity of the robot trajectory.

This paper presents a smooth double-spline interpolation method, achieving the global C2 continuity of the robot trajectory. The tool center positions and quaternion orientations are first fitted by a cubic B-spline curve and a quartic-polynomial-based quaternion spline curve, respectively. Then, a parameter synchronization model is proposed to realize the synchronous and smooth movement of the robot along the double spline curves. Finally, an extra u-s function is used to record the relationship between the B-spline parameter and its arc length parameter, which may reduce the feed rate fluctuation in interpolation. The seven segments jerk-limited feed rate profile is used to generate motion commands for algorithm validation.

The simulation and experimental results demonstrate that the proposed method is effective and can generate the global C2-continuity robot trajectory.

The main contributions of this paper are as follows: guarantee the C2 continuity of the position path and quaternion orientation path simultaneously; provide a parameter synchronization model to realize the synchronous and smooth movement of the robot along the double spline curves; and add an extra u-s function to realize arc length parameterization of the B-spline path, which may reduce the feed rate fluctuation in interpolation.

The purpose of this paper is to present a procedure to design an experimental setup meant to validate an innovative approach for simulating, via computational fluid dynamics, a high-pressure gas release from a rupture (e.g. on an offshore oil and gas platform). The design is based on a series of scaling exercises, some of which are anything but trivial.

The experimental setup is composed of a wind tunnel, the instrumented scaled (1:10) mock-up of an offshore platform and a gas release system. A correct scaling approach is necessary to define the reference speed in the wind tunnel and the conditions of the gas release to maintain similarity with respect to the real-size phenomena. The scaling of the wind velocity and the scaling of the gas release were inspired by the approach proposed by Hall et al. (1997): a dimensionless group was chosen to link release parameters, wind velocity and geometric scaling factor.

The theoretical scaling approaches for each different part of the setup were applied to the design of the experiment and some criticalities were identified, such as the existence of a set of case studies with some release parameters laying outside the applicability range of the developed scaling methodology, which will be further discussed.

The resulting procedure is one of a kind because it involves a multi-scaling approach because of the different aspects of the design. Literature supports for the different scaling theories but, to the best of the authors’ knowledge, fails to provide an integrated approach that considers the combined effects of scaling.

This study aims to propose an enhanced eco-driving strategy based on reinforcement learning (RL) to alleviate the mileage anxiety of electric vehicles (EVs) in the connected environment.

In this paper, an enhanced eco-driving control strategy based on an advanced RL algorithm in hybrid action space (EEDC-HRL) is proposed for connected EVs. The EEDC-HRL simultaneously controls longitudinal velocity and lateral lane-changing maneuvers to achieve more potential eco-driving. Moreover, this study redesigns an all-purpose and efficient-training reward function with the aim to achieve energy-saving on the premise of ensuring other driving performance.

To illustrate the performance for the EEDC-HRL, the controlled EV was trained and tested in various traffic flow states. The experimental results demonstrate that the proposed technique can effectively improve energy efficiency, without sacrificing travel efficiency, comfort, safety and lane-changing performance in different traffic flow states.

In light of the aforementioned discussion, the contributions of this paper are two-fold. An enhanced eco-driving strategy based an advanced RL algorithm in hybrid action space (EEDC-HRL) is proposed to jointly optimize longitudinal velocity and lateral lane-changing for connected EVs. A full-scale reward function consisting of multiple sub-rewards with a safety control constraint is redesigned to achieve eco-driving while ensuring other driving performance.

This study examines what is the significance of the features of inter-organizational relationships in consecutive phases of the relationship life cycle.

Qu antitative, large-scale surveying was run on 786 software developers operating in Poland. The research hypothesis regarding the systematic increase of relational features (i.e. commitment, communication, (lack of) conflict, cooperation, intensity, investments, longevity, multidimensionality of bonds, trust, and velocity) across the particular relationship life cycle phase le (i.e. initial, development, maintenance, dormant/end, and reactivation) was verified using ANOVA and post-hoc tests.

The results show that the majority of considered features of inter-organizational relationships non-significantly but progressively strengthen from the initial phase, through the development phase, to the maintenance phase, then significantly weaken in the dormant/end phase and strengthen again in the reactivation phase. Interestingly, velocity–as the only examined feature–significantly increases in dormant/end and then decreases if the relationship is reactivated.

Prior studies were focusing on single feature, this one offers a holistic view considering ten relational facets. Moreover, this is one of the few research studies exploring the changes of relational features adopting the life cycle perspective.

The purpose of this study is to examine whether regulations can prevent financial crises based on the case of Sweden in the 20th century. The evolution of banking regulation relies heavily on learning across borders as well as responding to recent and remembered crises. Sweden went from being an open economy with a highly protected national banking system with several banking crises under the Classical regime, through the Statist regime with no crises followed by abrupt liberalisation in the 1980s as the country changed to a more market-based regime. This study examines the regulatory responses to crises in each of these periods to assess how, and whether, an often backward-looking regulatory framework can address forward-looking risks.

This study is a qualitative study using a historical method. The authors use archival material, official publications and statistical data as well as secondary literature to succinctly analyse crises and regulatory responses in different regulatory regimes in the 20th century. The theoretical framework builds on three macro- and microeconomic policy regimes, the Classical, the Statist and the Market regime.

The authors find that regulations can play a decisive role in alleviating a banking crisis, but the relationship between regulations and economic development is complex, and regulations alone cannot prevent a crisis.

To the best of the authors’ knowledge, this is the first longitudinal study of banking regulations in Sweden and how these change in response to crises with the aim of improving the role of banks in financial intermediation and financial stability. This study contributes to a body of literature on financial crises with a long-term perspective and an assessment of regulations as a policy response.

The purpose of the paper is to predict the aerodynamic performance of a complete scale model H-Darrieus vertical axis wind turbine (VAWT) with end plates at different operating conditions. This paper aims at understanding the flow physics around a model VAWT for three different tip speed ratios corresponding to three different flow regimes.

This study achieves a first three-dimensional hybrid lattice Boltzmann method/very large eddy simulation (LBM-VLES) model for a complete scaled model VAWT with end plates and mast using the solver PowerFLOW. The power curve predicted from the numerical simulations is compared with the experimental data collected at Erlangen University. This study highlights the complexity of the turbulent flow features that are seen at three different operational regimes of the turbine using instantaneous flow structures, mean velocity, pressure iso-contours, blade loading and skin friction plots.

The power curve predicted using the LBM-VLES approach and setup provides a good overall match with the experimental power curve, with the peak and drop after the operational point being captured. Variable turbulent flow structures are seen over the azimuthal revolution that depends on the tip speed ratio (TSR). Significant dynamic stall structures are seen in the upwind phase and at the end of the downwind phase of rotation in the deep stall regime. Strong blade wake interactions and turbulent flow structures are seen inside the rotor at higher TSRs.

The computational cost and time for such high-fidelity simulations using the LBM-VLES remains expensive. Each simulation requires around a week using supercomputing facilities. Further studies need to be performed to improve analytical VAWT models using inputs/calibration from high fidelity simulation databases. As a future work, the impact of turbulent and nonuniform inflow conditions that are more representative of a typical urban environment also needs to be investigated.

The LBM methodology is shown to be a reliable approach for VAWT power prediction. Dynamic stall and blade wake interactions reduce the aerodynamic performance of a VAWT. An ideal operation close to the peak of the power curve should be favored based on the local wind resource, as this point exhibits a smoother variation of forces improving operational performance. The 3D flow features also exhibit a significant wake asymmetry that could impact the optimal layout of VAWT clusters to increase their power density. The present work also highlights the importance of 3D simulations of the complete model including the support structures such as end plates and mast.

Accurate predictions of power performance for Darrieus VAWTs could help in better siting of wind turbines thus improving return of investment and reducing levelized cost of energy. It could promote the development of onsite electricity generation, especially for industrial sites/urban areas and renew interest for VAWT wind farms.

A first high-fidelity simulation of a complete VAWT with end plates and supporting structures has been performed using the LBM approach and compared with experimental data. The 3D flow physics has been analyzed at different operating regimes of the turbine. These physical insights and prediction capabilities of this approach could be useful for commercial VAWT manufacturers.

The paper targets on providing new experimental data for validation of the well-established mathematical models within the framework of the lattice Boltzmann method (LBM), which are applied to problems of casting processes in complex mould cavities.

An experimental campaign aiming at the free-surface flow within a system of narrow channels is designed and executed under well-controlled laboratory conditions. An in-house lattice Boltzmann solver is implemented. Its algorithm is described in detail and its performance is tested thoroughly using both the newly recorded experimental data and well-known analytical benchmark tests.

The benchmark tests prove the ability of the implemented algorithm to provide a reliable solution when the surface tension effects become dominant. The convergence of the implemented method is assessed. The two new experimentally studied problems are resolved well by simulations using a coarse computational grid.

A detailed set of original experimental data for validation of computational schemes for simulations of free-surface gravity-driven flow within a system of narrow channels is presented.

This study aims to develop an automatic lane-change mechanism on highways for self-driving articulated trucks to improve traffic safety.

The authors proposed a novel safety lane-change path planning and tracking control method for articulated vehicles. A double-Gaussian distribution was introduced to deduce the lane-change trajectories of tractor and trailer coupling characteristics of intelligent vehicles and roads. With different steering and braking maneuvers, minimum safe distances were modeled and calculated. Considering safety and ergonomics, the authors invested multilevel self-driving modes that serve as the basis of decision-making for vehicle lane-change. Furthermore, a combined controller was designed by feedback linearization and single-point preview optimization to ensure the path tracking and robust stability. Specialized hardware in the loop simulation platform was built to verify the effectiveness of the designed method.

The numerical simulation results demonstrated the path-planning model feasibility and controller-combined decision mechanism effectiveness to self-driving trucks. The proposed trajectory model could provide safety lane-change path planning, and the designed controller could ensure good tracking and robust stability for the closed-loop nonlinear system.

This is a fundamental research of intelligent local path planning and automatic control for articulated vehicles. There are two main contributions: the first is a more quantifiable trajectory model for self-driving articulated vehicles, which provides the opportunity to adapt vehicle and scene changes. The second involves designing a feedback linearization controller, combined with a multi-objective decision-making mode, to improve the comprehensive performance of intelligent vehicles. This study provides a valuable reference to develop advanced driving assistant system and intelligent control systems for self-driving articulated vehicles.

Joule heating effect is a pervasive phenomenon in electro-osmotic flow because of the applied electric field and fluid electrical resistivity across the microchannels. Its effect in electro-osmotic flow field is an important mechanism to control the flow inside the microchannels and it includes numerous applications.

This research article details the numerical investigation on alterations in the profile of stream wise velocity of simple Couette-electroosmotic flow and pressure driven electro-osmotic Couette flow by the dynamic viscosity variations happened due to the Joule heating effect throughout the dielectric fluid usually observed in various microfluidic devices.

The advantages of the Joule heating effect are not only to control the velocity in microchannels but also to act as an active method to enhance the mixing efficiency. The results of numerical investigations reveal that the thermal field due to Joule heating effect causes considerable variation of dynamic viscosity across the microchannel to initiate a shear flow when EDL (Electrical Double Layer) thickness is increased and is being varied across the channel.

This research work suggest how joule heating can be used as en effective mechanism for flow control in microfluidic devices.

An optimal solution method based on 2-norm is proposed in this study to solve the inverse kinematics multiple-solution problem caused by a high redundancy. The current research also presents a motion optimization based on the 2-Norm of high-redundant mobile humanoid robots, in which a kinematic model is designed through the entire modeling.

The current study designs a highly redundant humanoid mobile robot with a differential mobile platform. The high-redundancy mobile humanoid robot consists of three modular parts (differential driving platform with two degrees of freedom (DOF), namely, left and right arms with seven DOF, respectively) and has total of 14 DOFs. Given the high redundancy of humanoid mobile robot, a kinematic model is designed through the entire modeling and an optimal solution extraction method based on 2-norm is proposed to solve the inverse kinematics multiple solutions problem. That is, the 2-norm of the angle difference before and after rotation is used as the shortest stroke index to select the optimal solution. The optimal solution of the inverse kinematics equation in the step is obtained by solving the minimum value of the objective function of a step. Through the step-by-step cycle in the entire tracking process, the kinematic optimization of the highly redundant humanoid robot in the entire tracking process is realized.

Compared with the before and after motion optimizations based on the 2-norm algorithm of the robot, its motion after optimization shows minimal fluctuation, improved smoothness, limited energy consumption and short path during the entire mobile tracking and operating process.

In this paper, the whole kinematics model of the highly redundant humanoid mobile robot is established and its motion is optimized based on 2-norm, which provides a theoretical basis for the follow-up research of the service robot.

In this paper, the whole kinematics model of the highly redundant humanoid mobile robot is established and its motion is optimized based on 2-norm, which provides a theoretical basis for the follow-up research of the service robot.

In this paper, the whole kinematics model of the highly redundant humanoid mobile robot is established and its motion is optimized based on 2-norm, which provides a theoretical basis for the follow-up research of the service robot.

Motion optimization based on the 2-norm of a highly redundant humanoid mobile robot with the entire modeling is performed on the basis of the entire modeling. This motion optimization can make the highly redundant humanoid mobile robot’s motion path considerably short, minimize energy loss and shorten time. These researches provide a theoretical basis for the follow-up research of the service robot, including tracking and operating target, etc. Finally, the motion optimization algorithm is verified by the tracking and operating behaviors of the robot and an example.