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To ensure the motion attitude and stable contact force of massage robot working on unknown human tissue environment, this study aims to propose a robotic system for autonomous massage path planning and stable interaction control.

First, back region extraction and acupoint recognition based on deep learning is proposed, which provides a basis for determining the working area and path points of the robot. Second, to realize the standard approach and movement trajectory of the expert massage, 3D reconstruction and path planning of the massage area are performed, and normal vectors are calculated to control the normal orientation of robot-end. Finally, to cope with the soft and hard changes of human tissue state and body movement, an adaptive force tracking control strategy is presented to compensate the uncertainty of environmental position and tissue hardness online.

Improved network model can accomplish the acupoint recognition task with a large accuracy and integrate the point cloud to generate massage trajectories adapted to the shape of the human body. Experimental results show that the adaptive force tracking control can obtain a relatively smooth force, and the error is basically within ± 0.2 N during the online experiment.

This paper incorporates deep learning, 3D reconstruction and impedance control, the robot can understand the shape features of the massage area and adapt its planning massage path to carry out a stable and safe force tracking control during dynamic robot–human contact.

In traditional calibration methods of kinematics parameters of industrial robots, dozens of model parameters are identified together based on an optimization procedure. Due to different contributions of model parameter errors to the tool center point positioning error of industrial robots, obtaining good results for all model parameters is very difficult. Therefore, the purpose of this paper is to propose a sequential calibration method specifically for transmission ratio parameters, which includes reduction ratios and coupling ratios of industrial robot joints.

The ABB IRB 1410 industrial robot is considered as an example in this study. The transmission ratios for each joint of the robot are identified using the spatial circle fitting method based on spatial vectors, which fit the center and radius of joint rotation with the least squares optimization algorithm. In addition, a method based on the Rodrigues’ formula is designed and presented for identifying the actual coupling ratio of the robot. Subsequently, an experiment is carried out to verify the proposed sequential calibration method of transmission ratios.

In this experiment, the actual positions of the linkages before and after joint rotations are measured by a laser tracker. Accurate results of the reduction ratios and the coupling ratios are calculated, and the results are verified experimentally. The results show that by calibrating the reduction ratios and coupling ratios of the ABB robot, the rotation angle errors of the robot joints can be reduced.

The authors propose a sequential calibration method for transmission ratio parameters, including reduction ratios and coupling ratios of industrial robot joints. An experiment is carried out to verify this proposed sequential calibration method. This study may be beneficial for calibrating the kinematic parameters of industrial robots and improving their positioning accuracy.

Independent directors are important corporate decision participants and makers. Based on the Chinese cultural background, this paper interprets the listing order of independent directors as independent directors’ status, exploring their influence on the corporate research and development (R&D) behavior.

This paper studies A-share listed firms in China from 2008 to 2018 as the sample. The main method is ordinary least square (OLS) regression. We also use other methods to deal with endogenous problems, such as the firm fixed effect method, change model method, two-stage instrumental variable method, and Heckman two-stage method.

(1) Higher independent directors’ status attribute to more effective exertion of supervision and consultation function, and positively enhance the corporate R&D investment. The increase of the independent director’ status by one standard deviation will increase the R&D investment by 4.6%. (2) The above effect is more influential in firms with stronger traditional culture atmosphere, higher information opacity and higher performance volatility. (3) High-status independent directors promote R&D investment by improving the scientificity of R&D evaluation and reducing information asymmetry. (4) The enhancing effect of independent director’ status on R&D investment is positively associated with the firm’s patent output and market value.

This paper contributes to understanding the relationship between the independent directors’ status and their duty execution from an embedded cultural background perspective. The findings of the study enlighten the improvement of corporate governance efficiency and the healthy development of the capital market.

This paper aims to present a simplified method to analyze the transient characteristics of a fractional-order very high frequency (VHF) resonant boost converter. The transient analytical solutions of state variables obtained by this method could be used as a guide for parameter design and circuit optimization.

The VHF converter is decoupled into a simplified equivalent circuit model and described by the differential equation. The solution of the simplified equivalent circuit model is taken as the main oscillation component of the transient state variable. And the equivalent small parameter method (ESPM) and Kalman filter technology are used to solve the differential equation of the converter to obtain the steady-state ripple component. Then, by superimposing the abovementioned two parts, the approximate transient analytical solution can be acquired. Finally, the influence of the fractional order of the energy storage elements on the transient process of the converter is discussed.

The results from the proposed method agree well with those from simulations, which indicates that the proposed method can effectively analyze the transient characteristic of the fractional-order VHF converter, and the analytical solution derived from the proposed mathematical model shows sufficient accuracy.

This paper proposes for the first time a method to analyze the transient characteristics of a fractional-order VHF resonant boost converter. By combining the main oscillated solution derived from the simplified equivalent circuit model with the steady-state solution based on ESPM, this method can greatly reduce the computation amount to estimate the transient solution. In addition, the discussion on the order of fractional calculus of energy storage components can provide an auxiliary guidance for the selection of circuit parameters and the study of stability.

This paper aims to investigate the energy-saving effect and mechanism of serpentine as lubricant additive in the simulated condition.

An ABLT-1 bearing test machine was used for 1,350 hours and an MM-W1 three-pin-on-disk apparatus was used to investigate its anti-friction effect. The worn surface was characterized by scanning electron microscopy equipped with energy dispersive spectroscopy.

The results show that the energy-saving effect was improved after adding serpentine powder in oil and that both the friction coefficient and mass loss were dramatically decreased. The analysis on worn surface layer demonstrates that an auto-reconditioning surface layer was formed on the worn surface, which was responsible for the decrease in friction and wear.

The simulation test for the metal bearing was conducted over 1,350 hours using lubricant with and without serpentine powder. The addition of serpentine powder enhanced the energy-saving rate over time, stabilizing at about 13 per cent after 1,000 hours. An auto-reconditioning surface layer was formed on the surfaces of disassembled bearing lubricated with serpentine doped oil, resulting in dramatic decrease of both the friction coefficient and the mass loss. In addition to normal load and the accumulation of serpentine powder in the furrows and scratches of the deformed layer, the formation of the surface layer was possibly related to the substrate deformation induced by friction force.

This paper aims to identify the role of the wall slip on the dynamic characteristics of the multi-groove water-lubricated bearing considering rough contact, including stiffness and damping coefficients of the water film and contact stiffness coefficient of the asperity contact.

The modified perturbed average Reynolds equations with the wall slip are derived, and the calculated perturbed hydrodynamic pressures are integrated to obtain the stiffness and damping coefficients of the water film. The elastic-plastic contact model of Kogut and Etsion is used to determine the contact stiffness coefficient.

Numerical results reveal that the wall slip has the more significant impact on the water film stiffness coefficients compared with the damping and contact stiffness coefficients. When the slip angle lies in a reasonable range, the lubrication performance can be effectively improved, especially in the mixed lubrication condition. In addition, it is worth emphasizing that the abrupt change of the water film stiffness coefficients occurs at the region II (pressure zone) in this study.

The influence mechanism of the wall slip on the dynamic characteristics of the water-lubricated bearing considering rough contact is first revealed.

This study clarifies the operational performance of fashion companies during the coronavirus pandemic. Meanwhile, improvement strategies have been provided in the post-pandemic era.

The static and dynamic perspectives were combined to comprehensively analyze the operational performance of fashion companies before, during and after the COVID-19 outbreak. A comparative analysis among five representative countries was conducted to achieve global conclusions. Additionally, data envelopment analysis (DEA) theory and various DEA models were employed for the analysis.

The fashion industry has not achieved overall effectiveness. American companies have the best operational performance, followed by European and Chinese companies. In contrast, the impact of the pandemic on American companies was severe, whereas Chinese and European companies showed operational resilience. In addition, the pandemic had a devastating influence on the global fashion industry. This resulted in a decline in total factor productivity, and the main reason was technological regress. Furthermore, labor redundancy is a critical issue for the fashion industry in the post-pandemic era, even if it shows a decrease because of the pandemic.

The existing theory on the fashion industry during the pandemic was improved by expanding the time and geographical dimensions and integrating the advantages of various DEA models. Scientific improvement strategies were presented in the post-pandemic era with application value.

In order to solve the current imbalance of academic resources within the discipline, this article builds a three-dimensional talent evaluation model based on the topic–author–citation based on the z index and proposes the ZAS index to evaluate scholars on different research topics within the discipline.

Based on the sample data of the CSSCI journals in the discipline of physical education in the past five years, the keywords were classified into 13 categories of research topics including female sports. The ZAS index of scholars on topic of female sports and so on was calculated, and quantitative indexes such as h index p index and z index were calculated. Comparative analysis of the evaluation effect was performed.

It is found that compared with the h index and p index, the z index achieves a better balance between the quantity, quality and citation distribution of scholars' results and effectively recognizes that the citation quality is higher and the number of citations of each paper is more balanced. In addition, compared to the z index, this article is based on a ZAS index model with an improved three-dimensional topic–author–citation relationship in research fields such as female sports.

It can identify some outstanding scholars who are engaged in small-scale or emerging topic research such as female sports and are excellent in different research areas. Talents create an objective and fair evaluation environment. At the same time, the ranking ability of ZAS indicators in the evaluation of talents is the strongest, and it is expected to be used in practical evaluations.

This study aims to improve the automatic leveling performance of tractor body in hilly and mountainous areas by designing a kind of controllable and adaptive leveling mechanism of tractor body.

The mechanism is mainly composed of longitudinal slope leveling mechanism, transverse slope leveling mechanism and control components. According to the tractor body attitude in operation, the longitudinal slope leveling and lateral slope leveling can coordinate to realize the adaptive adjustment of tractor body. For this mechanism, the support mode of the linear three-point support and plane positioning combining is designed, and the leveling method of electromechanical combination is designed. The servo motor controls the longitudinal slope leveling mechanism through the reducer with self-locking function to realize the longitudinal leveling, and the servo driver controls the expansion and contraction of electric cylinder to realize lateral leveling. The designed mode can realize the relative independence and coordination of leveling in different directions.

The performance test results of the leveling mechanism are shown: the mechanism can work normally; the leveling accuracy can reach within 1°; and the leveling accuracy and stability can meet the design requirements. The leveling accuracy and stability of longitudinal slope are higher than that of lateral slope, and the coordination leveling effect of longitudinal slope and lateral slope is better than that of the independent leveling.

This study provides a technical reference for the design of leveling device of agricultural machines and tools in hilly and mountainous areas.

The purpose of this paper is to design the localization and tracking algorithms for our mobile welding robot to carry out the large steel structure welding operations in industrial environment.

Extended Kalman filter, considering the bicycle-modeled robot, is adopted in the localization algorithm. The position and orientation of our mobile welding robot is estimated using the feedback of the laser sensor and the robot motion commands history. A backstepping variable is involved in the tracking algorithm. By introducing a specifically selected Lyapunov function, we proved the tracking algorithm using Barbalat Lemma, which leads the errors of estimated robot states to converge to zero.

The experiments show that the proposed localization method is fast and accurate and the tracking algorithm is robust to track straight lines, circles and other typical industrial curve shapes. The proposed localization and tracking algorithm could be used, but not limited to the mobile welding.

Localization problem which is neglected in previous research is very important in mobile welding. The proposed localization algorithm could estimate the robot states timely and accurately, and no additional sensors are needed. Furthermore, using the estimated robot states, we proposed and proved a tracking algorithm for bicycle-modeled mobile robots which could be used in welding as well as other industrial operation scenarios.