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This study proposes a predictive neural network model reference decoupling control method for the coupling problem between the leg joints of hydraulic quadruped robots, and verifies its decoupling effect..

The machine–hydraulic cross-linking coupling is studied as the coupling behavior of the hydraulically driven quadruped robot, and the mechanical dynamics coupling force of the robot system is controlled as the disturbance force of the hydraulic system through the Jacobian matrix transformation. According to the principle of multivariable decoupling, a prediction-based neural network model reference decoupling control method is proposed; each module of the control algorithm is designed one by one, and the stability of the system is analyzed by the Lyapunov stability theorem.

The simulation and experimental research on the robot joint decoupling control method is carried out, and the prediction-based neural network model reference decoupling control method is compared with the decoupling control method without any decoupling control method. The results show that taking the coupling effect experiment between the hip joint and knee joint as an example, after using the predictive neural network model reference decoupling control method, the phase lag of the hip joint response line was reduced from 20.3° to 14.8°, the amplitude attenuation was reduced from 1.82% to 0.21%, the maximum error of the knee joint coupling line was reduced from 0.67 mm to 0.16 mm and the coupling effect between the hip joint and knee joint was reduced from 1.9% to 0.48%, achieving good decoupling.

The prediction-based neural network model reference decoupling control method proposed in this paper can use the neural network model to predict the next output of the system according to the input and output. Finally, the weights of the neural network are corrected online according to the predicted output and the given reference output, so that the optimization index of the neural network decoupling controller is extremely small, and the purpose of decoupling control is achieved.

This study explores whether and how Internet usage improves the subjective health of middle-aged and older adults by analyzing the mediating role of social engagement and heterogeneity of different living arrangements.

Based on data from the China Health and Retirement Longitudinal Study, the ordinary least squares (OLS) method is adopted to explore the relationship between Internet usage and the subjective health of middle-aged and older adults. Propensity score matching method (PSM) is used to alleviate self-selection bias in the samples. The bootstrap method is adopted to test the mediating role of social engagement, and generalized structural equation modeling (GSEM) is employed to resolve endogeneity. A permutation test is adopted to examine the heterogeneous effects of Internet usage on different living arrangements.

Internet access can help relieve depression among middle-aged and older adults and enhance their self-rated health, leading to perceived changes in health status. However, Internet usage is not directly associated with health satisfaction among middle-aged and older adults. Nevertheless, Internet usage can enhance middle-aged and older adults' subjective health by facilitating social engagement and significantly influences middle-aged and older adults living with their children.

This study reveals the underlying role of Internet usage among older adults and provides insights for governments and families to help middle-aged and older adults actively adapt to a digital society and improve their health.

This study aims to solve the problem of job scheduling and multi automated guided vehicle (AGV) cooperation in intelligent manufacturing workshops.

In this study, an algorithm for job scheduling and cooperative work of multiple AGVs is designed. In the first part, with the goal of minimizing the total processing time and the total power consumption, the niche multi-objective evolutionary algorithm is used to determine the processing task arrangement on different machines. In the second part, AGV is called to transport workpieces, and an improved ant colony algorithm is used to generate the initial path of AGV. In the third part, to avoid path conflicts between running AGVs, the authors propose a simple priority-based waiting strategy to avoid collisions.

The experiment shows that the solution can effectively deal with job scheduling and multiple AGV operation problems in the workshop.

In this paper, a collaborative work algorithm is proposed, which combines the job scheduling and AGV running problem to make the research results adapt to the real job environment in the workshop.

This study aims to investigate the surface modification on 20CrMnTi gear steel individually treated by diamond-like carbon films and nitride coatings.

For this purpose, the mechanical properties of a-C:H, ta-C and AlCrSiN coatings are characterized by nano-indentation and scratch tests. The friction and wear behaviors of these three coatings are evaluated by ball-on-disc tribological experiments under dry contact conditions.

The results show that the a-C:H coating has the highest coating-substrate adhesion strength (495 mN) and the smoothest surface (Ra is about 0.045 µm) compared with the other two coatings. The AlCrSiN coating shows the highest mean coefficient of friction (COF), whereas the ta-C coating exhibits the lowest one (steady at about 0.16). The carbon-based coatings possess excellent self-lubricating properties compared with nitride ceramic ones, which effectively reduce the COF by about 64%. The major failure mode of carbon-based coatings in dry contact is slight abrasive wear. The damage of AlCrSiN coating is mainly adhesive wear and abrasive wear.

It is suggested that the carbon-based film can effectively improve the friction-reducing and wear resistance performance of the gear steel surface, which has a promising application prospect in the mechanical transmission field.

The peer review history for this article is available at: https://publons.com/publon/10.1108/ILT-05-2023-0129/

There is a growing urgent concern in involving higher education institutions (HEIs) towards an international effort in implementing a more suitable role as conductors of sustainable development. This paper/study aims to present the application of light emiting diode (LED) technology in an HEI assuming technology innovation as part of a larger institutional innovation management strategy addressing multiple dimensions in sustainability.

Investments in LED technology are analyzed for their impact on consumption results and quantitative comparisons between 2008 and 2022 are impaired with detailed information on the types of luminaires and the amount of installed energy.

The collected data shows a clear economic advantage of using LED technology, and the results subsidize institutional planning, considering not only ongoing technological innovation, but also educational components and community involvement in the organization sustainability strategy.

The study is limited to a specific HEI and further comparative research should be carried out.

A holistic approach on sustainability objectives encourages further investment in environmental-friendly technology, example to other HEIs.

The strategic vision of innovation is confirmed with the involvement of the community, at various levels, such as the academic community, local community, scientific international community.

This study addresses the lack of examples in the literature of structural planning and management systems that see sustainability as a strategy built in HEIs. The elaboration of an environmental sustainability plan places environmental sustainability at the confluence of themes such as education, investigation, use of natural resources, waste separation. For each topic are listed measures, actions, environment improvements, institution improvements and their results.