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An optimal solution method based on 2-norm is proposed in this study to solve the inverse kinematics multiple-solution problem caused by a high redundancy. The current research also presents a motion optimization based on the 2-Norm of high-redundant mobile humanoid robots, in which a kinematic model is designed through the entire modeling.

The current study designs a highly redundant humanoid mobile robot with a differential mobile platform. The high-redundancy mobile humanoid robot consists of three modular parts (differential driving platform with two degrees of freedom (DOF), namely, left and right arms with seven DOF, respectively) and has total of 14 DOFs. Given the high redundancy of humanoid mobile robot, a kinematic model is designed through the entire modeling and an optimal solution extraction method based on 2-norm is proposed to solve the inverse kinematics multiple solutions problem. That is, the 2-norm of the angle difference before and after rotation is used as the shortest stroke index to select the optimal solution. The optimal solution of the inverse kinematics equation in the step is obtained by solving the minimum value of the objective function of a step. Through the step-by-step cycle in the entire tracking process, the kinematic optimization of the highly redundant humanoid robot in the entire tracking process is realized.

Compared with the before and after motion optimizations based on the 2-norm algorithm of the robot, its motion after optimization shows minimal fluctuation, improved smoothness, limited energy consumption and short path during the entire mobile tracking and operating process.

In this paper, the whole kinematics model of the highly redundant humanoid mobile robot is established and its motion is optimized based on 2-norm, which provides a theoretical basis for the follow-up research of the service robot.

In this paper, the whole kinematics model of the highly redundant humanoid mobile robot is established and its motion is optimized based on 2-norm, which provides a theoretical basis for the follow-up research of the service robot.

In this paper, the whole kinematics model of the highly redundant humanoid mobile robot is established and its motion is optimized based on 2-norm, which provides a theoretical basis for the follow-up research of the service robot.

Motion optimization based on the 2-norm of a highly redundant humanoid mobile robot with the entire modeling is performed on the basis of the entire modeling. This motion optimization can make the highly redundant humanoid mobile robot’s motion path considerably short, minimize energy loss and shorten time. These researches provide a theoretical basis for the follow-up research of the service robot, including tracking and operating target, etc. Finally, the motion optimization algorithm is verified by the tracking and operating behaviors of the robot and an example.

This paper aims to propose a measurement principle and a calibration method of measurement system integrated with serial robot and 3D camera to identify its parameters conveniently and achieve high measurement accuracy.

A stiffness and kinematic measurement principle of the integrated system is proposed, which considers the influence of robot weight and load weight on measurement accuracy. Then an error model is derived based on the principle that the coordinate of sphere center is invariant, which can simultaneously identify the parameters of joint stiffness, kinematic and hand-eye relationship. Further, considering the errors of the parameters to be calibrated and the measurement error of 3D camera, a method to generate calibration observation data is proposed to validate both calibration accuracy and parameter identification accuracy of calibration method.

Comparative simulations and experiments of conventional kinematic calibration method and the stiffness and kinematic calibration method proposed in this paper are conducted. The results of the simulations show that the proposed method is more accurate, and the identified values of angle parameters in modified Denavit and Hartenberg model are closer to their real values. Compared with the conventional calibration method in experiments, the proposed method decreases the maximum and mean errors by 19.9% and 13.4%, respectively.

A new measurement principle and a novel calibration method are proposed. The proposed method can simultaneously identify joint stiffness, kinematic and hand-eye parameters and obtain not only higher measurement accuracy but also higher parameter identification accuracy, which is suitable for on-site calibration.

This study aims to explore the impact of multisource deformation errors on the oil film contact surface, which arise from manufacturing, assembly, oil pressure and thermal influences, on the motion accuracy of hydrostatic guideway.

Using thermal-structural coupling simulations, this research investigates the effects of assembly, oil pressure and thermal factors on deformation errors of the oil film contact surface. By integrating these with manufacturing errors, a profile error model for the oil film contact surface is developed, characterizing the cumulative effect of these errors. Using kinematic theory and progressive Mengen flow controller characteristics, the motion error at any position of the hydrostatic guideway is quantified, examining how surface error traits impact motion accuracy.

The error averaging effect is affected by the profile error of oil film contact surface. Meanwhile, the motion accuracy of hydrostatic guideway is highly sensitive to the oil film contact surface error amplitude.

This approach allows for precise prediction and analysis of motion accuracy in hydrostatic guideways during the design and manufacturing stages. It also provides guidance for planning process tolerances.

The peer review history for this article is available at: https://publons.com/publon/10.1108/ILT-03-2024-0063/

This study aims to examine the impact of the decision makers’ risk preference on logistics routing problem, contributing to logistics behavior analysis and route integration optimization under uncertain environment. Due to the unexpected events and complex environment in modern logistics operations, the logistics process is full of uncertainty. Based on the chance function of satisfying the transportation time and cost requirements, this paper focuses on the fourth party logistics routing integrated optimization problem considering the chance preference of decision makers from the perspective of satisfaction.

This study used the quantitative method to investigate the relationship between route decision making and human behavior. The cumulative prospect theory is used to describe the loss, gain and utility function based on confidence levels. A mathematical model and an improved ant colony algorithm are employed to solve the problems. Numerical examples show the effectiveness of the proposed model and algorithm.

The study’s findings reveal that the dual-population improvement strategy enhances the algorithm’s global search capability and the improved algorithm can solve the risk model quickly, verifying the effectiveness of the improvement method. Moreover, the decision-maker is more sensitive to losses, and the utility obtained when considering decision-makers' risk attitudes is greater than that obtained when the decision-maker exhibits risk neutrality.

In an uncertain environment, the logistics decision maker’s risk preference directly affects decision making. Different parameter combinations in the proposed model could be set for decision-makers with different risk attitudes to fit their needs more accurately. This could help managers design effective transportation plans and improve service levels. In addition, the improved algorithm can solve the proposed problem quickly, stably and effectively, so as to help the decision maker to make the logistics path decision quickly according to the required confidence level.

Considering the uncertainty in logistics and the risk behavior of decision makers, this paper studies integrated routing problem from the perspective of opportunity preference. Based on the chance function of satisfying the transportation time and cost requirements, a fourth party logistics routing integrated optimization problem model considering the chance preference of decision makers is established. According to the characteristics of the problem, an improved dual-population ant colony algorithm is designed to solve the proposed model. Numerical examples show the effectiveness the proposed methods.

Early termination of public–private partnerships (PPPs) in China is caused by various risk factors, resulting in significant losses. This study aimed to clarify the key factors and identify the causal relationships among these factors.

Social network analysis (SNA) was used to analyze 37 risk factors that were summarized from 97 early terminated PPP cases and to identify the relationships among these key risk factors. Interpretive structural modeling (ISM) was conducted to explore the causal relationships. Data were collected from case documents, questionnaires and interviews.

A total of 17 key risk factors were identified and distributed in a hierarchical structure with six tiers. Among these key risk factors, the root causes affecting the early termination of PPP projects were government oversight in decision-making, local government transition, policy and law changes and force majeure. The direct cause was insufficient returns. Furthermore, local government and private sector defaults were essential mediating factors. Local government transition and the low willingness of the private sector were highlighted as potential key risks.

The cases and experts were all from China, and outcomes in other countries or cultures may differ from those of this study. Therefore, further studies are required.

This research provides knowledge regarding the key risk factors leading to the early termination of PPP projects and guidance on avoiding these factors and blocking the factors' transmission in the project lifecycle.

This study contributes to the knowledge of risk management by emphasizing the importance of local government transition, the low willingness of the private sector and project cooperation and operation, whose significance is ignored in the existing literature. The proposed ISM clarifies the role of risk factors in causing early termination and explains their transmission patterns.

The purpose of this study is to examine the fretting wear property of ultra-high molecular weight polyethylene (UHMWPE)-based composites reinforced by different content of attapulgite.

A series of composites were prepared by a hot-pressing method. Fretting tests were carried out using an SRV-IV oscillating reciprocating friction wear tester with a load of 10 N and a frequency of 100 Hz. The morphology of the fracture structure and the worn surface was observed by field-emission scanning electron microscopy, X-ray diffraction and a non-contact three dimensional surface profiler.

With the addition of attapulgite, the microstructure of the composites become more regular, and their heat resistance improved. Furthermore, the friction coefficient and the specific wear rate of the composites with lower filler content reduced compared with that of neat UHMWPE, and the optimum filler content is 1 per cent.

The study investigated the fretting resistance mechanism of the attapulgite in the UHMWPE matrix. The results could help to provide some experimental evidence for the broader application of silicates on the fretting wear resistance of polymers.

The peer review history for this article is available at: https://publons.com/publon/10.1108/ILT-10-2019-0420/

The purpose of this paper is to explore the key factors that affect consumer redemption intention toward mobile coupons recommended in social network sites (SNS).

A research model that integrates recommendation trust, positive utilities, and negative utilities of coupon redemption is developed. With the important role of trust in social recommendation taken into consideration, the key drivers of recommendation trust were analyzed in the model. Data were collected from 210 users with mobile coupon recommendation experience in one of the largest SNS (i.e. WeChat) in China. The authors used partial least squares technique to analyze the model.

Recommendation trust and positive utilities (economic benefits and perceived enjoyment) positively affect the intention of mobile coupon redemption. Perceived risk, as a negative utility, negatively influences coupon redemption intention. In addition, swift trust (structure assurance, perceived similarity, trust propensity, and expertise of the recommender), knowledge-based trust (familiarity with the retailers), and emotion-based trust (social tie strength) are key drivers that promote recommendation trust.

While prior research investigated mobile coupon redemption behavior in which coupons were issued by merchants, limited research analyzed consumer responses toward mobile coupons in social recommendation. This study examines the effects of recommendation trust, positive utilities, and negative utilities on mobile coupon redemption in the context of social recommendation and recognizes the key drivers of recommendation trust.

The purpose of this paper is to understand the natural wind field characteristics of the tunnel entrance section and analyzing the aerodynamic performance of high-speed railway trains (HSRTs) under natural winds.

Three typical tunnel entrance section sites, namely, tunnel–bridge in a dry canyon (TBDC), tunnel–bridge in a river canyon (TBRC) and tunnel–flat ground (TF), are selected to conduct a continuous wind field measurement. Based on the measured wind characteristics, the natural winds of the TBDC and TF sites are reconstituted and imported into the two corresponding full-scale computational fluid dynamics models. The aerodynamic loads of the HSRT running on TBDC and TF with reconstituted winds are simply analyzed.

The von Kármán spectrum can be used to describe the wind field at the tunnel entrance section. In the reconstituted natural wind condition, a time-varying feature of wind speed distribution and leeward side vortex around the HSRT caused by the wind speed fluctuation is found. The fluctuating amplitude of aerodynamic loads at the TBDC infrastructure is up to 97.9% larger than that at the TF infrastructure.

The natural wind characteristics at tunnel entrance sections on the high-speed railway are first measured and analyzed. A numerical reconstitution scheme considering the temporal and spatial variation of natural wind speed is proposed and verified based on field measurement results. The aerodynamic performance of an HSRT under reconstituted natural winds is first investigated.

This paper aims to focus on studying the addition of nano-tungsten disulfide (WS₂) on fretting wear performance of ultra-high-molecular-weight-polyethylene (UHMWPE).

In this study, the effect of WS₂ content on fretting wear performance of UHMWPE was investigated. The fretting wear performance of the UHMWPE and WS₂/UHMWPE nanocomposites were evaluated on oscillating reciprocating friction and wear tester. The data of the friction coefficient and the specific wear rate were obtained. The worn surfaces of composites were observed. The transfer film and its component were analyzed.

With the addition of 0.5% WS₂, the friction coefficient and specific wear rate increased. With the content increased to 1% and 1.5%, the friction coefficient and specific wear rate decreased. The lowest friction coefficient and specific wear rate were obtained with the addition of 1.5% nano-WS₂. Continuingly increasing content, the friction coefficient and wear rate increased but lower than that of pure UHMWPE.

The research indicated the fretting wear performance related to the content of nano-WS₂ with the incorporation of WS₂ into UHMWPE.

The result may help to choose the appropriate content.

The main originality of the research is to reveal the fretting behavior of UHMWPE and WS₂/UHMWPE nanocomposites. It makes us realize the nano-WS₂ had an effect on the fretting wear performance of UHMWPE.

The peer review history for this article is available at: https://publons.com/publon/10.1108/ILT-04-2020-0151/

Precast wall lifting during prefabricated building construction faces multiple non-lean problems, such as inaccurate lifting-time estimation, unreasonable resource allocation and improper process design. This study aims to identify the pathways for improving lifting performance to advance lean construction of prefabricated buildings.

This study developed a methodological framework that integrates the discrete event simulation method, the elimination, combination, rearrangement and simplification (ECRS) technique and intelligent optimization tool. Two schemes of precast wall lifting, namely, the enterprise's business as usual (BAU) and enterprise-leading (EL) schemes, were set to benchmark lifting performance. Furthermore, a best-practice (BP) scheme was modeled from the perspective of lifting activity ECRS and resource allocation for performance optimization.

A real project was selected to test the effect of the methodological framework. The results showed that compared with the EL scheme, the BP scheme reduced the total lifting time (TLT) by 6.3% and mitigated the TLT uncertainty (the gap between the maximum and minimum time values) by 20.6%. Under the BP scheme, increasing the resource inputs produces an insignificant effect in reducing TLT, i.e. increasing the number of component operators in the caulking subprocess from one to two only shortened the TLT by 3.6%, and no further time reduction was achieved as more component operators were added.

To solve non-lean problems associated with prefabricated building construction, this study provides a methodological framework that can separate a typical precast wall lifting process into fine-level activities. Besides, it also identifies the pathways (including the learning effect mitigation, labor and machinery resource adjustment and activities’ improvement) to reducing TLT and its uncertainty.