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The purpose of this paper is to design a multifingered dexterous hand grasping planning method that can efficiently perform grasping tasks on multiple dexterous hand platforms.

The grasping process is divided into two stages: offline and online. In the offline stage, the grasping solution form is improved based on the forward kinematic model of the dexterous hand. A comprehensive evaluation method of grasping quality is designed to obtain the optimal grasping solution offline data set. In the online stage, a safe and efficient selection strategy of the optimal grasping solution is proposed, which can quickly obtain the optimal grasping solution without collision.

The experiments verified that the method can be applied to different multifingered dexterous hands, and the average grasping success rate for objects with different structures is 91.7%, indicating a good grasping effect.

Using a forward kinematic model to generate initial grasping points can improve the generality of grasping planning methods and the quality of initial grasping solutions. The offline data set of optimized grasping solutions can be generated faster by the comprehensive evaluation method of grasping quality. Through the simple and fast obstacle avoidance strategy, the safe optimal grasping solution can be quickly obtained when performing a grasping task. The proposed method can be applied to automatic assembly scenarios where the end effector is a multifingered dexterous hand, which provides a technical solution for the promotion of multifingered dexterous hands in industrial scenarios.

There are three purposes in this paper: to verify the importance of bi-directional fluid-structure interaction algorithm for centrifugal impeller designs; to study the relationship between the flow inside the impeller and the vibration of the blade; study the influence of material properties on flow field and vibration of centrifugal blades.

First, a bi-directional fluid-structure coupling finite element numerical model of the supersonic semi-open centrifugal impeller is established based on the Workbench platform. Then, the calculation results of impeller polytropic efficiency and stage total pressure ratio are compared with the experimental results from the available literature. Finally, the flow field and vibrational characteristics of 17-4PH (PHB), aluminum alloy (AAL) and carbon fiber-reinforced plastic (CFP) blades are compared under different operating conditions.

The results show that the flow fields performance and blade vibration influence each other. The flow fields performance and vibration resistance of CFP blades are higher than those of 17-4PH (PHB) and aluminum alloy (AAL) blades. At the design speed, compared with the PHB blades and AAL blades, the CFP blades deformation is reduced by 34.5% and 9%, the stress is reduced by 69.6% and 20% and the impeller pressure ratio is increased by 0.8% and 0.14%, respectively.

The importance of fluid-structure interaction to the aerodynamic and structural design of centrifugal impeller is revealed, and the superiority over composite materials in the application of centrifugal impeller is verified.

As an advanced manufacturing method, additive manufacturing (AM) technology provides new possibilities for efficient production and design of parts. However, with the continuous expansion of the application of AM materials, subtractive processing has become one of the necessary steps to improve the accuracy and performance of parts. In this paper, the processing process of AM materials is discussed in depth, and the surface integrity problem caused by it is discussed.

Firstly, we listed and analyzed the characterization parameters of metal surface integrity and its influence on the performance of parts and then introduced the application of integrated processing of metal adding and subtracting materials and the influence of different processing forms on the surface integrity of parts. The surface of the trial-cut material is detected and analyzed, and the surface of the integrated processing of adding and subtracting materials is compared with that of the pure processing of reducing materials, so that the corresponding conclusions are obtained.

In this process, we also found some surface integrity problems, such as knife marks, residual stress and thermal effects. These problems may have a potential negative impact on the performance of the final parts. In processing, we can try to use other integrated processing technologies of adding and subtracting materials, try to combine various integrated processing technologies of adding and subtracting materials, or consider exploring more efficient AM technology to improve processing efficiency. We can also consider adopting production process optimization measures to reduce the processing cost of adding and subtracting materials.

With the gradual improvement of the requirements for the surface quality of parts in the production process and the in-depth implementation of sustainable manufacturing, the demand for integrated processing of metal addition and subtraction materials is likely to continue to grow in the future. By deeply understanding and studying the problems of material reduction and surface integrity of AM materials, we can better meet the challenges in the manufacturing process and improve the quality and performance of parts. This research is very important for promoting the development of manufacturing technology and achieving success in practical application.

Driven by sustainable production, mobile robots are introduced as a new clean-energy material handling tool for mixed-model assembly lines (MMALs), which reduces energy consumption and lineside inventory of workstations (LSI). Nevertheless, the previous part feeding scheduling method was designed for conventional material handling tools without considering the flexible spatial layout of the robotic mobile fulfillment system (RMFS). To fill this gap, this paper focuses on a greening mobile robot part feeding scheduling problem with Just-In-Time (JIT) considerations, where the layout and number of pods can be adjusted.

A novel hybrid-load pod (HL-pod) and mobile robot are proposed to carry out part feeding tasks between material supermarkets and assembly lines. A bi-objective mixed-integer programming model is formulated to minimize both total energy consumption and LSI, aligning with environmental and sustainable JIT goals. Due to the NP-hard nature of the proposed problem, a chaotic differential evolution algorithm for multi-objective optimization based on iterated local search (CDEMIL) algorithm is presented. The effectiveness of the proposed algorithm is verified by dealing with the HL-pod-based greening part feeding scheduling problem in different problem scales and compared to two benchmark algorithms. Managerial insights analyses are conducted to implement the HL-pod strategy.

The CDEMIL algorithm's ability to produce Pareto fronts for different problem scales confirms its effectiveness and feasibility. Computational results show that the proposed algorithm outperforms the other two compared algorithms regarding solution quality and convergence speed. Additionally, the results indicate that the HL-pod performs better than adopting a single type of pod.

This study proposes an innovative solution to the scheduling problem for efficient JIT part feeding using RMFS and HL-pods in automobile MMALs. It considers both the layout and number of pods, ensuring a sustainable and environmental-friendly approach to production.

Compared with the high stiffness of traditional CNC machine tools, the structural stiffness of industrial robots is usually less than 1 N/µm. Chatter not only affects the quality of robotic milling but also reduces the accuracy of the milling process. The purpose of this paper is to reduce chatter in the robotic machining process.

First, the mode coupling chatter mechanism is analyzed. Then the milling force model and the principal stiffness model are established. Finally, the robot milling stability optimization method is proposed. The method considered functional redundancies, and a new robot milling stability index is proposed to improve the quality of milling operations.

The experimental results prove a significant reduction in force fluctuations and surface roughness after using the proposed robotic milling stability optimization method.

In this paper, a new robot milling stability index and a new robot milling stability optimization method are proposed. This method can significantly increase the milling stability and improve the milling quality, which can be widely used in the industry.

Timing constraints affect the manufacturing of traditional large-scale components through the material extrusion technique. Thus, researchers are exploring using many independent and collaborative heads that may work on the same part simultaneously while still producing an appealing final product. The purpose of this paper is to propose a simple and repeatable approach for toolpath planning for gantry-based n independent extrusion heads with effective collision avoidance management.

This research presents an original toolpath planner based on existing slicing software and the traditional structure of G-code files. While the computationally demanding component subdivision task is assigned to computer-aided design and slicing software to build a standard G-code, the proposed algorithm scans the conventional toolpath data file, quickly isolates the instructions of a single extruder and inserts brief pauses between the instructions if the non-priority extruder conflicts with the priority one.

The methodology is validated on two real-life industrial large-scale components using architectures with two and four extruders. The case studies demonstrate the method's effectiveness, reducing printing time considerably without affecting the part quality. A static priority strategy is implemented, where one extruder gets priority over the other using a cascade process. The results of this paper demonstrate that different priority strategies reflect on the printing efficiency by a factor equal to the number of extrusion heads.

To the best of the authors’ knowledge, this is the first study to produce an original methodology to efficiently plan the extrusion heads' trajectories for a collaborative material extrusion architecture.

The purpose of this study is to offer a checklist that can be used for both creating and evaluating digital collections, which are also sometimes referred to as data sets as part of the collections as data movement, suitable for computational use.

The checklist was built by synthesising and analysing the results of relevant research literature, articles and studies and the issues and needs obtained in an observational study. The checklist was tested and applied both as a tool for assessing a selection of digital collections made available by galleries, libraries, archives and museums (GLAM) institutions as proof of concept and as a supporting tool for creating collections as data.

Over the past few years, there has been a growing interest in making available digital collections published by GLAM organisations for computational use. Based on previous work, the authors defined a methodology to build a checklist for the publication of Collections as data. The authors’ evaluation showed several examples of applications that can be useful to encourage other institutions to publish their digital collections for computational use.

While some work on making available digital collections suitable for computational use exists, giving particular attention to data quality, planning and experimentation, to the best of the authors’ knowledge, none of the work to date provides an easy-to-follow and robust checklist to publish collection data sets in GLAM institutions. This checklist intends to encourage small- and medium-sized institutions to adopt the collection as data principles in daily workflows following best practices and guidelines.

This paper aims to propose a dynamic parameter identification method based on sensitivity analysis for the 5-degree of freedom (DOF) hybrid robots, to solve the problems of too many identification parameters, complex model, difficult convergence of optimization algorithms and easy-to-fall into a locally optimal solution, and improve the efficiency and accuracy of dynamic parameter identification.

First, the dynamic parameter identification model of the 5-DOF hybrid robot was established based on the principle of virtual work. Then, the sensitivity of the parameters to be identified is analyzed by Sobol’s sensitivity method and verified by simulation. Finally, an identification strategy based on sensitivity analysis was designed, experiments were carried out on the real robot and the results were verified.

Compared with the traditional full-parameter identification method, the dynamic parameter identification method based on sensitivity analysis proposed in this paper converges faster when optimized using the genetic algorithm, and the identified dynamic model has higher prediction accuracy for joint drive forces and torques than the full-parameter identification models.

This work analyzes the sensitivity of the parameters to be identified in the dynamic parameter identification model for the first time. Then a parameter identification method is proposed based on the results of the sensitivity analysis, which can effectively reduce the parameters to be identified, simplify the identification model, accelerate the convergence of the optimization algorithm and improve the prediction accuracy of the identified model for the joint driving forces and torques.

This study aims to explore the resource development process implemented by a small consulting firm, active in a traditional industrial context, pursuing the innovation path to develop solutions within the Industry 4.0 (I4.0) domain.

This study undertakes a single qualitative case study of Sinergia, an Italian innovative small consulting firm. The case study is analyzed through critical events and adopting the 4 R model, developed within the industrial marketing and purchasing (IMP) approach.

The analysis highlights a transition from knowledge broker to solution provider, based on a process of networking, with a relevant strategizing effort, and of assembling internal, external and shared resources. Three patterns in the evolution of the company’s innovation path emerge: resource-oriented networking, hybrid resource development and resource assembly.

The empirical study provides novel empirical evidence over localized innovation processes in I4.0 by exploring the innovation path pursued by a small consulting firm in connection with the local business. The study represents a theoretical development in terms of the 4 R model as it suggests the need to further conceptualize the category of technical resources – including products and facilities – in the increasingly complex I4.0 domain and provides insights on the changing role of actors in networks underpinned by emerging resource structures.

Consequence prediction is an emerging topic in safety management concerning the severity outcome of accidents. In practical applications, it is usually implemented through supervised learning methods; however, the evaluation of classification results remains a challenge. The previous studies mostly adopted simplex evaluation based on empirical and quantitative assessment strategies. This paper aims to shed new light on the comprehensive evaluation and comparison of diverse classification methods through visualization, clustering and ranking techniques.

An empirical study is conducted using 9 state-of-the-art classification methods on a real-world data set of 653 construction accidents in China for predicting the consequence with respect to 39 carefully featured factors and accident type. The proposed comprehensive evaluation enriches the interpretation of classification results from different perspectives. Furthermore, the critical factors leading to severe construction accidents are identified by analyzing the coefficients of a logistic regression model.

This paper identifies the critical factors that significantly influence the consequence of construction accidents, which include accident type (particularly collapse), improper accident reporting and handling (E21), inadequate supervision engineers (O41), no special safety department (O11), delayed or low-quality drawings (T11), unqualified contractor (C21), schedule pressure (C11), multi-level subcontracting (C22), lacking safety examination (S22), improper operation of mechanical equipment (R11) and improper construction procedure arrangement (T21). The prediction models and findings of critical factors help make safety intervention measures in a targeted way and enhance the experience of safety professionals in the construction industry.

The empirical study using some well-known classification methods for forecasting the consequences of construction accidents provides some evidence for the comprehensive evaluation of multiple classifiers. These techniques can be used jointly with other evaluation approaches for a comprehensive understanding of the classification algorithms. Despite the limitation of specific methods used in the study, the presented methodology can be configured with other classification methods and performance metrics and even applied to other decision-making problems such as clustering.

This study sheds new light on the comprehensive comparison and evaluation of classification results through visualization, clustering and ranking techniques using an empirical study of consequence prediction of construction accidents. The relevance of construction accident type is discussed with the severity of accidents. The critical factors influencing the accident consequence are identified for the sake of taking prevention measures for risk reduction. The proposed method can be applied to other decision-making tasks where the evaluation is involved as an important component.