Search results

The purpose of this paper is to introduce a motion control method for WFF-AmphiRobot, which can effectively realize the flexible motion of the robot on land, underwater and in the transition zone between land and water.

Based on the dynamics model, the authors selected the appropriate state variables to construct the state space model of the robot and estimated the feedback state of the robot through the maximum a posteriori probability estimation. The nonlinear predictive model controller of the robot is constructed by local linearization of the model to perform closed-loop control on the overall motion of the robot. For the control problem of the terminal trajectory, using the neural rhythmic movement theory in bionics to construct a robot central pattern generator (CPG) for real-time generation of terminal trajectory.

In this paper, the motion state of WFF-AmphiRobot is estimated, and a model-based overall motion controller for the robot and an end-effector controller based on neural rhythm control are constructed. The effectiveness of the controller and motion control algorithm is verified by simulation and physical prototype motion experiments on land and underwater, and the robot can ideally complete the desired behavior.

The paper designed a controller for WFF-AmphiRobot. First, when constructing the robot state estimator in this paper, the robot dynamics model is introduced as the a priori estimation model, and the error compensation of the a priori model is performed by the method of maximum a posteriori probability estimation, which improves the accuracy of the state estimator. Second, for the underwater oscillation motion characteristics of the flipper, the Hopf oscillator is used as the basis, and the flipper fluctuation equation is modified and improved by the CPG signal is adapted to the flipper oscillation demand. The controller effectively controls the position error and heading angle error within the desired range during the movement of the WFF-AmphiRobot.

This study aims to propose a more precise method for robust design optimization of mechanical structures with black-box problems, while also considering the efficiency of uncertainty analysis.

The method first introduces a dual adaptive chaotic flower pollination algorithm (DACFPA) to overcome the shortcomings of the original flower pollination algorithm (FPA), such as its susceptibility to poor accuracy and convergence efficiency when dealing with complex optimization problems. Furthermore, a DACFPA-Kriging model is developed by optimizing the relevant parameter of Kriging model via DACFPA. Finally, the dual Kriging model is constructed to improve the efficiency of uncertainty analysis, and a robust design optimization method based on DACFPA-Dual-Kriging is proposed.

The DACFPA outperforms the FPA, particle swarm optimization and gray wolf optimization algorithms in terms of solution accuracy, convergence speed and capacity to avoid local optimal solutions. Additionally, the DACFPA-Kriging model exhibits superior prediction accuracy and robustness contrasted with the original Kriging and FPA-Kriging. The proposed method for robust design optimization based on DACFPA-Dual-Kriging is applied to the motor hanger of the electric multiple units as an engineering case study, and the results confirm a significant reduction in the fluctuation of the maximum equivalent stress.

This study represents the initial attempt to enhance the prediction accuracy of the Kriging model using the improved FPA and to combine the dual Kriging model for uncertainty analysis, providing an idea for the robust optimization design of mechanical structure with black-box problem.

This paper aims to focus on the accurate analysis of the fractional heat transfer in a two-dimensional (2D) rectangular monolayer tissue with three different kinds of lateral boundary conditions and the quantitative evaluation of the degree of thermal damage and burn depth.

A symplectic method is used to analytically solve the fractional heat transfer dual equation in the frequency domain (s-domain). Explicit expressions of the dual vector can be constructed by superposing the symplectic eigensolutions. The solution procedure is rigorously rational without any trial functions. And the accurate predictions of temperature and heat flux in the time domain (t-domain) are derived through numerical inverse Laplace transform.

Comparison study shows that the maximum relative error is less than 0.16%, which verifies the accuracy and effectiveness of the proposed method. The results indicate that the model and heat source parameters have a significant effect on temperature and thermal damage. The pulse duration (Δt) of the laser heat source can effectively control the time to reach the peak temperature and the peak slope of the thermal damage curve. The burn depth is closely correlated with exposure temperature and duration. And there exists the delayed effect of fractional order on burn depth.

A symplectic approach is presented for the thermal analysis of 2D fractional heat transfer. A unified time-fractional heat transfer model is proposed to describe the anomalous thermal behavior of biological tissue. New findings might provide guidance for temperature prediction and thermal damage assessment of biological tissues during hyperthermia.

The author develops a bilateral Nash bargaining model under value uncertainty and private/asymmetric information, combining ideas from axiomatic and strategic bargaining theory. The solution to the model leads organically to a two-tier stochastic frontier (2TSF) setup with intra-error dependence. The author presents two different statistical specifications to estimate the model, one that accounts for regressor endogeneity using copulas, the other able to identify separately the bargaining power from the private information effects at the individual level. An empirical application using a matched employer–employee data set (MEEDS) from Zambia and a second using another one from Ghana showcase the applied potential of the approach.

The aim of this study is to (1) construct a standard framework for assessing the capability of bioenergy enterprises' digital green innovation partners; (2) quantify the choice of partners for digital green innovation by bioenergy enterprises; (3) propose based on a dual combination empowerment niche digital green innovation field model.

Fuzzy set theory is combined into field theory to investigate resource complementarity. The successful application of the model to a real case illustrates how the model can be used to address the problem of digital green innovation partner selection. Finally, the standard framework and digital green innovation field model can be applied to the practical partner selection of bioenergy enterprises.

Digital green innovation technology of superposition of complementarity, mutual trust and resources makes the digital green innovation knowledge from partners to biofuels in the enterprise. The index rating system included eight target layers: digital technology innovation level, bioenergy technology innovation level, bioenergy green level, aggregated digital green innovation resource level, bioenergy technology market development ability, co-operation mutual trust and cooperation aggregation degree.

This study helps to (1) construct the evaluation standard framework of digital green innovation capability based on the dual combination empowerment theory; (2) develop a new digital green innovation domain model for bioenergy enterprises to select digital green innovation partners; (3) assist bioenergy enterprises in implementing digital green innovation practices.

Supply chains (SCs) have been growingly virtualized in response to the market challenges and opportunities that are presented by new and cost-effective internet-based technologies today. This paper designed a virtual closed-loop supply chain (VCLSC) network based on multiperiod, multiproduct and by using the Internet of Things (IoT). The purpose of the paper is the optimization of the VCLSC network.

The proposed model considers the maximization of profit. For this purpose, costs related to virtualization such as security, energy consumption, recall and IoT facilities along with the usual costs of the SC are considered in the model. Due to real-world demand fluctuations, in this model, demand is considered fuzzy. Finally, the problem is solved using the Grey Wolf algorithm and Firefly algorithm. A numerical example and sensitivity analysis on the main parameters of the model are used to describe the importance and applicability of the developed model.

The findings showed that the Firefly algorithm performed better and identified more profit for the SC in each period. Also, the results of the sensitivity analysis using the IoT in a VCLSC showed that the profit of the virtual supply chain (VSC) is higher compared to not using IoT due to tracking defective parts and identifying reversible products. In proposed model, chain members can help improve chain operations by tracking raw materials and products, delivering products faster and with higher quality to customers, bringing a new level of SC efficiency to industries. As a result, VSCs can be controlled, programmed and optimized remotely over the Internet based on virtual objects rather than direct observation.

There are limited researches on designing and optimizing the VCLSC network. This study is one of the first studies that optimize the VSC networks considering minimization of virtual costs and maximization of profits. In most researches, the theory of VSC and its advantages have been described, while in this research, mathematical optimization and modeling of the VSC have been done, and it has been tried to apply SC virtualization using the IoT. Considering virtual costs in VSC optimization is another originality of this research. Also, considering the uncertainty in the SC brings the issue closer to the real world. In this study, virtualization costs including security, recall and energy consumption in SC optimization are considered.

1. Investigates the role of IoT for virtual supply chain profit optimization and mathematical optimization of virtual closed-loop supply chain (VCLSC) based on multiperiod, multiproduct with emphasis on using the IoT under uncertainty.

2. Considering the most important costs of virtualization of supply chain include: cost of IoT information security, cost of IoT energy consumption, cost of recall the production department, cost of IoT facilities.

3. Selection of the optimal suppliers in each period and determination of the price of each returned product in virtual supply chain.

4. Solving and validating the proposed model with two meta-heuristic algorithms (the Grey Wolf algorithm and Firefly algorithm).

Investigates the role of IoT for virtual supply chain profit optimization and mathematical optimization of virtual closed-loop supply chain (VCLSC) based on multiperiod, multiproduct with emphasis on using the IoT under uncertainty.

Considering the most important costs of virtualization of supply chain include: cost of IoT information security, cost of IoT energy consumption, cost of recall the production department, cost of IoT facilities.

Selection of the optimal suppliers in each period and determination of the price of each returned product in virtual supply chain.

Solving and validating the proposed model with two meta-heuristic algorithms (the Grey Wolf algorithm and Firefly algorithm).

The green innovation behavior of construction enterprises is the key to reducing the construction industry's carbon emissions and realizing the green transformation of the construction industry. The purpose of this study is to reveal the evolutionary mechanism of green innovation behavior in construction enterprises.

This study is based on resource-based theory, Porter's hypothesis and signaling theory. First, a measurement model of the green innovation behavior of construction enterprises was constructed from three aspects: environmental regulation, enterprise resources and public opinion through hierarchical analysis. Then, the state values of the measurement model of green innovation behavior of construction enterprises were calculated through the time series data from 2011–2018. Finally, the Markov chain model was used to predict the evolutionary trend of green innovation behavior of construction enterprises, and the accuracy of the prediction effect of the Markov chain model was verified using the time series data of 2019.

The Markov chain model of green innovation behavior of construction enterprises constructed in this study has high accuracy. This model finds that the transition of the growth state of green innovation behavior in China's construction industry is fluid and predicts the evolution trend of the innovation behavior of construction enterprises. In the future, the green innovation behavior of construction enterprises has a probability of 70.17% to be in a continuous growth state and 40.27% to be in a rapid growth state.

Based on the Markov chain model of green innovation behavior of construction enterprises, this study finds that the transition of the growth state of green innovation behavior of construction enterprises in China has the characteristics of liquidity. In addition, it reveals the development process of the green innovation behavior of construction enterprises from 2011–2018 and predicts the evolution trend of the green innovation behavior of construction enterprises.

This paper aims to present two-stage network models in the presence of stochastic ratio data.

Black-box, free-link and fix-link techniques are used to apply the internal relations of the two-stage network. A deterministic linear programming model is derived from a stochastic two-stage network data envelopment analysis (DEA) model by assuming that some basic stochastic elements are related to the inputs, outputs and intermediate products. The linkages between the overall process and the two subprocesses are proposed. The authors obtain the relation between the efficiency scores obtained from the stochastic two stage network DEA-ratio considering three different strategies involving black box, free-link and fix-link. The authors applied their proposed approach to 11 airlines in Iran.

In most of the scenarios, when alpha in particular takes any value between 0.1 and 0.4, three models from Charnes, Cooper, and Rhodes (1978), free-link and fix-link generate similar efficiency scores for the decision-making units (DMUs), While a relatively higher degree of variations in efficiency scores among the DMUs is generated when the alpha takes the value of 0.5. Comparing the results when the alpha takes the value of 0.1–0.4, the DMUs have the same ranking in terms of their efficiency scores.

The authors innovatively propose a deterministic linear programming model, and to the best of the authors’ knowledge, for the first time, the internal relationships of a two-stage network are analyzed by different techniques. The comparison of the results would be able to provide insights from both the policy perspective as well as the methodological perspective.

The purpose of this paper is to explore the internal interaction mechanism of marine scientific research and education, industrial structure upgrading and marine economic growth from a systematic perspective, based on which this work forecasts their future development trends.

In this study, a multivariate grey model is applied to the prediction of marine scientific research and education, industrial structure upgrading and marine economic growth. Considering the impact of the COVID-19 on marine development, this paper introduces the weakening buffer operator into MGM(1,m) and constructs the AWBO-MGM(1,m) model. To verify the validity and accuracy of the new model, this paper uses AWBO-MGM(1,m), MGM(1,m), GM(1,N), GM(1,1), back propagation neural network and linear regression models for simulation and prediction based on the data from 2010 to 2021, respectively.

From the theoretical perspective, the development of marine scientific research and education can accelerate industrial upgrading and promote marine economic growth by providing high-quality talents, promoting marine science and technology progress and reducing transaction costs; while the upgrading of marine industrial structure and marine economic growth can promote the development of marine scientific research and education by guiding social capital, enhancing talent demand and stimulating market vitality. From the empirical analysis, the AWBO-MGM(1,m) model can effectively deal with epidemic shocks and has higher fitting and prediction accuracy than the other five comparative models.

The government should pay attention to the construction of marine scientific research and education, so as to provide high-quality talents and advanced scientific research results for the high-quality development of marine economy. On the basis of using science and technology to firmly build the primary and secondary marine industries, the government should actively guide the labor, capital and other factors of production to the tertiary industry, thereby promoting the optimization and upgrading of marine industrial structure.

On the one hand, the interplay mechanism of marine scientific research and education, industrial structure upgrading and marine economic growth is analyzed from a systematic perspective; on the other hand, the enhanced AWBO-MGM(1,m) possesses higher forecasting performance and is applicable to the systemic multivariate forecasting problem in the presence of outstanding external shocks.

The purpose of this paper is to construct an event-triggered finite-time fault-tolerant formation tracking controller, which can achieve a time-varying formation control for multiple unmanned aerial vehicles (UAVs) during actuator failures and external perturbations.

First, this study developed the formation tracking protocol for each follower using UAV formation members, defining the tracking inaccuracy of the UAV followers’ location. Subsequently, this study designed the multilayer event-triggered controller based on the backstepping method framework within finite time. Then, considering the actuator failures, and added self-adaptive thought for fault-tolerant control within finite time, the event-triggered closed-loop system is subsequently shown to be a finite-time stable system. Furthermore, the Zeno behavior is analyzed to prevent infinite triggering instances within a finite time. Finally, simulations are conducted with external disturbances and actuator failure conditions to demonstrate formation tracking controller performance.

It achieves improved performance in the presence of external disturbances and system failures. Combining limited-time adaptive control and event triggering improves system stability, increase robustness to disturbances and calculation efficiency. In addition, the designed formation tracking controller can effectively control the time-varying formation of the leader and followers to complete the task, and by adding a fixed-time observer, it can effectively compensate for external disturbances and improve formation control accuracy.

A formation-following controller is designed, which can handle both external disturbances and internal actuator failures during formation flight, and the proposed method can be applied to a variety of formation control scenarios and does not rely on a specific type of UAV or communication network.