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The purpose of this paper is to investigate the optimal production and financing strategies for the closed-loop supply chain (CLSC) composed of a capital-constrained original equipment manufacturer (OEM) and a risk-averse authorized remanufacturer (RM).

The authors formulate four models with different scenarios, namely, the OEM has sufficient capital; the OEM has limited capital without financing; the OEM adopts debt financing strategy; and the OEM adopts equity financing strategy. The equilibrium solutions of each scenario are obtained by backward induction method, the influences of risk aversion coefficient on the equilibrium solutions are examined and the OEM's optimal financing strategy is found by comparison analysis.

When the OEM's initial capital is limited and the equity dividend ratio is less than a certain threshold, the equity financing strategy is more advantageous for the OEM. However, if the OEM's initial capital is extremely scarce and the dividend proportion is large, the OEM prefers the debt financing strategy. When considering financing, consumer surplus always decreases as the risk aversion factor increases; the debt financing strategy is more environmentally friendly compared with the equity financing strategy. Only the debt financing strategy can make both members in the CLSC achieve a win-win situation in a certain region when the dividend ratio is sufficiently large.

It will be more fascinating if the model extends to such a case that the production operation situation in the CLSC composed of multiple OEMs in multiple periods. Furthermore, the remanufacturer's risk-averse information is asymmetry may be more realistic in our daily life.

There are three main differences from the existing research. One is that the remanufacturer's risk aversion originates from the uncertain remanufacturing cost instead of the uncertain market demand. Another is that the boundary conditions of the OEM prefer to adopt debt financing is obtained through the envelope theorem with Lagrange multiplier method. Last but not the least, this paper provides a good theoretical reference and practical guidance for the OEM to make the rational financing strategy selection in face of different degree of capital scarcity in the CLSC system. The value of the three aspects provides a theoretical basis for the optimal operation decisions of capital-constrained manufacturer considering the remanufacturer's risk aversion in the CLSC operation system.

In recent years, domestic smog has become increasingly frequent and the adverse effects of smog have increasingly become the focus of public attention. It is a way to analyze such problems and provide solutions by mathematical methods.

This paper establishes a new gray model (GM) (1,N) prediction model based on the new kernel and degree of grayness sequences under the case that the interval gray number distribution information is known. First, the new kernel and degree of grayness sequences of the interval gray number sequence are calculated using the reconstruction definition of the kernel and degree of grayness. Then, the GM(1,N) model is formed based on the above new sequences to simulate and predict the kernel and degree of the grayness of the interval gray number sequence. Finally, the upper and lower bounds of the interval gray number are deduced based on the calculation formulas of the kernel and degree of grayness.

To verify further the practical significance of the model proposed in this paper, the authors apply the model to the simulation and prediction of smog. Compared with the traditional GM(1,N) model, the new GM(1,N) prediction model established in this paper has better prediction effect and accuracy.

This paper improves the traditional GM(1,N) prediction model and establishes a new GM(1,N) prediction model in the case of the known distribution information of the interval gray number of the smog pollutants concentrations data.

The six-axis force/torque sensor based on a Y-type structure has the advantages of simple structure, small space volume, low cost and wide application prospects. To meet the overall structural stiffness requirements and sensor performance requirements in robot engineering applications, this paper aims to propose a Y-type six-axis force/torque sensor.

The performance indicators such as each component sensitivities and stiffnesses of the sensor were selected as optimization objectives. The multiobjective optimization equations were established. A multiple quadratic response surface in ANSYS Workbench was modeled by using the central composite design experimental method. The optimal manufacturing structural parameters were obtained by using multiobjective genetic algorithm.

The sensor was optimized and the simulation results show that the overload resistance of the sensor is 200%F.S., and the axial stiffness, radial stiffness, bending stiffness and torsional stiffness are 14.981 kN/mm, 16.855 kN/mm, 2.0939 kN m/rad and 6.4432 kN m/rad, respectively, which meet the design requirements, and the sensitivities of each component of the optimized sensor have been well increased to be 2.969, 2.762, 4.010, 2.762, 2.653 and 2.760 times as those of the sensor with initial structural parameters. The sensor prototype with optimized parameters was produced. According to the calibration experiment of the sensor, the maximum Class I and II errors and measurement uncertainty of each force/torque component of the sensor are 1.835%F.S., 1.018%F.S. and 1.606%F.S., respectively. All of them are below the required 2%F.S.

Hence, the conclusion can be drawn that the sensor has excellent comprehensive performance and meets the expected practical engineering requirements.

Stereo vision technique simulates the function of the human eyes to observe the world, which can be used to compute the spatial information of weld seam in the robot welding field. It is a typical kind of application to fix two cameras on the end effector of robot when stereo vision is used in intelligent robot welding. In order to analyse the effect of vision system configuration on vision computing, an accuracy analysis model of vision computing is constructed, which is a good guide for the construction and application of stereo vision system in welding robot field.

A typical stereo vision system fixed on welding robot is designed and constructed to compute the position information of spatial seam. A simplified error analysis model of the two arbitrary putting cameras is built to analyze the effect of sensors' structural parameter on vision computing accuracy. The methodology of model analysis and experimental verification are used in the research. And experiments related with image extraction, robot movement accuracy is also designed to analyze the effect of equipment accuracy and related processed procedure in vision technology.

Effect of repeatability positioning accuracy and TCP calibration error of welding robot for visual computing are also analyzed and tested. The results show that effect of the repeatability on computing accuracy is not bigger than 0.3 mm. However, TCP affected the computing accuracy greatly, when the calibrated error of TCP is bigger than 0.5, the re‐calibration is very necessary. The accuracy analysis and experimental technique in this paper can guide the research of three‐dimensional information computing by stereo vision and improve the computed accuracy.

The accuracy of seam position information is affected by many interactional factors, the systematic experiments and a simplified error analysis model are designed and established, the main factors such as the sensor's configurable parameters, the accuracy of arc welding robot and the accuracy of image recognition, are included in the model and experiments. The model and experimental method are significant for design of visual sensor and improvement of computing accuracy.

This paper aims to propose a robotic automation system for processing special-shaped thin-walled workpieces, which includes a measurement part and a processing part.

In the measurement part, to efficiently and accurately realize the three-dimensional camera hand-eye calibration based on a large amount of measurement data, this paper improves the traditional probabilistic method. To solve the problem of time-consuming in the extraction of point cloud features, this paper proposes a point cloud feature extraction method based on seed points. In the processing part, the authors design a new type of chamfering tool. During the process, the robot adopts admittance control to perform compensation according to the feedback of four sensors mounted on the tool.

Experiments show that the proposed system can make the tool smoothly fit the chamfered edge during processing and the machined chamfer meets the processing requirements of 0.5 × 0.5 to 0.9 × 0.9 mm².

The proposed design and approach can be applied on many types of special-shaped thin-walled parts. This will give a new solution for the automation integration problem in aerospace manufacturing.

A novel robotic automation system for processing special-shaped thin-walled workpieces is proposed and a new type of chamfering tool is designed. Furthermore, a more accurate probabilistic hand-eye calibration method and a more efficient point cloud extraction method are proposed, which are suitable for this system when comparing with the traditional methods.

This research aims to present a novel cooperative control architecture designed specifically for roads with variations in height and curvature. The primary objective is to enhance the longitudinal and lateral tracking accuracy of the vehicle.

In addressing the challenges posed by time-varying road information and vehicle dynamics parameters, a combination of model predictive control (MPC) and active disturbance rejection control (ADRC) is employed in this study. A coupled controller based on the authors’ model was developed by utilizing the capabilities of MPC and ADRC. Emphasis is placed on the ramifications of road undulations and changes in curvature concerning control effectiveness. Recognizing these factors as disturbances, measures are taken to offset their influences within the system. Load transfer due to variations in road parameters has been considered and integrated into the design of the authors’ synergistic architecture.

The framework's efficacy is validated through hardware-in-the-loop simulation. Experimental results show that the integrated controller is more robust than conventional MPC and PID controllers. Consequently, the integrated controller improves the vehicle's driving stability and safety.

The proposed coupled control strategy notably enhances vehicle stability and reduces slip concerns. A tailored model is introduced integrating a control strategy based on MPC and ADRC which takes into account vertical and longitudinal force variations and allowing it to effectively cope with complex scenarios and multifaceted constraints problems.

The purpose of this paper is to discuss about evaluating the integrals involving B-spline wavelet on the interval (BSWI), in wavelet finite element formulations, using Gauss Quadrature.

In the proposed scheme, background cells are placed over each BSWI element and Gauss quadrature rule is defined for each of these cells. The nodal discretization used for BSWI WFEM element is independent to the selection of number of background cells used for the integration process. During the analysis, background cells of various lengths are used for evaluating the integrals for various combination of order and resolution of BSWI scaling functions. Numerical examples based on one-dimensional (1D) and two-dimensional (2D) plane elasto-statics are solved. Problems on beams based on Euler Bernoulli and Timoshenko beam theory under different boundary conditions are also examined. The condition number and sparseness of the formulated stiffness matrices are analyzed.

It is found that to form a well-conditioned stiffness matrix, the support domain of every wavelet scaling function should possess sufficient number of integration points. The results are analyzed and validated against the existing analytical solutions. Numerical examples demonstrate that the accuracy of displacements and stresses is dependent on the size of the background cell and number of Gauss points considered per background cell during the analysis.

The current paper gives the details on implementation of Gauss Quadrature scheme, using a background cell-based approach, for evaluating the integrals involved in BSWI-based wavelet finite element method, which is missing in the existing literature.

On May 18, 2014, AT&T Inc., the second-biggest U.S. mobile-phone carrier, agreed to acquire DirecTV, a satellite-television company, for $49 billion in cash and stock. However, the merger’s conditions and terms are complicated as the stock exchange ratio is contingent on the volume-weighted average AT&T stock price over a 30-day period that is three trading days prior to the date when the merger becomes effective.

Using a contingent claims pricing approach, we model DirecTV’s theoretical value based on the merger’s conditions and terms. It is shown that the theoretical DirecTV stock value is analogous to the sum of the present value of a cash offer, plus owning shares of the AT&T stock, and short volume-weighted average price (VWAP) call spreads. Using three different option-pricing models, DirecTV’s stock valuation model is tested with the market data. Empirical results show that on average, DirecTV’s stock was consistently priced at a discount during the sample period, and Funahashi and Kijima’s (2017) VWAP option model works better than Black and Scholes’ (1973) plain vanilla option model and Levy’s (1992) average-price option model.

Double-beam/column systems have drawn much attention in many engineering fields. This work aims to present the free and forced vibrations of a novel and complex double-column system with concentrated masses, axial loads and discrete viscoelastic supports subjected to the excitation of ground acceleration are solved by the extended Laplace transform method (ELTM).

In this work, the authors proposed an extended Laplace transform method (ELTM), which is an exact and explicit analytical method. Firstly, the mathematical model simulating the vibrations of the double-column system is reformulated with Dirac's delta function. Secondly, the exact and explicit mode shape solutions are obtained, based on which the natural frequencies and dynamic responses are obtained. An illustrating example is presented to show the validity of the proposed method. A parametric study is carried out to investigate the influences of the non-dimensional column stiffness ratio and the support stiffness ratio on the peak dynamic displacement and velocity.

It is shown that the proposed method can give exact and explicit solutions of the mode shapes and natural frequencies. It is found that the asynchronous vibrations of the proposed double-column systems can be implemented to efficiently dissipate seismic energy, as shown in the time-histories of displacement and velocity.

This research systematically studied the free and forced vibrations of the complex double-column system. The proposed extended ELTM is a general method. Its application to studying the energy dissipation capability implicates that the double-column system can be utilized to reduce responses in structures under earthquake attacks.

The proposed extended ELTM is original and powerful. Its application to study the complex double-columns system with discrete supports, concentrated masses and axial loads is novel.