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The current difficulties of distribution network working robots are mainly in the performance and operation mode. On the one hand, high-altitude power operation tasks require high load-carrying capacity and dexterity of the robot; on the other hand, the fully autonomous mode is uncontrollable and the teleoperation mode has a high failure rate. Therefore, this study aims to design a distribution network operation robot named Sky-Worker to solve the above two problems.

The heterogeneous arms of Sky-Worker are driven by hydraulics and electric motors to solve the contradiction between high load-carrying capacity and high flexibility. A human–robot collaborative shared control architecture is built to realize real-time human intervention during autonomous operation, and control weights are dynamically assigned based on energy optimization.

Simulations and tests show that Sky-Worker has good dexterity while having a high load capacity. Based on Sky-Worker, multiuser tests and practical application experiments show that the designed shared-control mode effectively improves the success rate and efficiency of operations compared with other current operation modes.

The designed heterogeneous dual-arm distribution robot aims to better serve distribution line operation tasks.

For the first time, the integration of hydraulic and motor drives into a distribution network operation robot has achieved better overall performance. A human–robot cooperative shared control framework is proposed for remote live-line working robots, which provides better operation results than other current operation modes.

Aiming at the problem of insufficient adaptability of robot motion planners under the diversity of end-effector constraints, this paper proposes Transformation Cross-sampling Framework (TC-Framework) that enables the planner to adapt to different end-effector constraints.

This work presents a standard constraint methodology for representing end-effector constraints as a collection of constraint primitives. The constraint primitives are merged sequentially into the planner, and a unified constraint input interface and constraint module are added to the standard sampling-based planner framework. This approach enables the realization of a generic planner framework that avoids the need to build separate planners for different end-effector constraints.

Simulation tests have demonstrated that the planner based on TC-framework can adapt to various end-effector constraints. Physical experiments have also confirmed that the framework can be used in real robotic systems to perform autonomous operational tasks. The framework’s strong compatibility with constraints allows for generalization to other tasks without modifying the scheduler, significantly reducing the difficulty of robot deployment in task-diverse scenarios.

This paper proposes a unified constraint method based on constraint primitives to enhance the sampling-based planner. The planner can now adapt to different end effector constraints by opening up the input interface for constraints. A series of simulation tests were conducted to evaluate the TC-Framework-based planner, which demonstrated its ability to adapt to various end-effector constraints. Tests on a physical experimental system show that the framework allows the robot to perform various operational tasks without requiring modifications to the planner. This enhances the value of robots for applications in fields with diverse tasks.

In response to the challenge of reduced efficiency or failure of robot motion planning algorithms when faced with end-effector constraints, this study aims to propose a new constraint method to improve the performance of the sampling-based planner.

In this work, a constraint method (TC method) based on the idea of cross-sampling is proposed. This method uses the tangent space in the workspace to approximate the constrained manifold pattern and projects the entire sampling process into the workspace for constraint correction. This method avoids the need for extensive computational work involving multiple iterations of the Jacobi inverse matrix in the configuration space and retains the sampling properties of the sampling-based algorithm.

Simulation results demonstrate that the performance of the planner when using the TC method under the end-effector constraint surpasses that of other methods. Physical experiments further confirm that the TC-Planner does not cause excessive constraint errors that might lead to task failure. Moreover, field tests conducted on robots underscore the effectiveness of the TC-Planner, and its excellent performance, thereby advancing the autonomy of robots in power-line connection tasks.

This paper proposes a new constraint method combined with the rapid-exploring random trees algorithm to generate collision-free trajectories that satisfy the constraints for a high-dimensional robotic system under end-effector constraints. In a series of simulation and experimental tests, the planner using the TC method under end-effector constraints efficiently performs. Tests on a power distribution live-line operation robot also show that the TC method can greatly aid the robot in completing operation tasks with end-effector constraints. This helps robots to perform tasks with complex end-effector constraints such as grinding and welding more efficiently and autonomously.

This paper aims to introduce a new design concept for robotic manipulator driven by the special two degrees of freedom (DOF) joints. Joint as a basic but essential component of the robotic manipulator is analysed emphatically.

The proposed robotic manipulator consists of several two-DOF joints and a rotary joint. Each of the two-DOF joints consists of a cylinder pairs driven by two DC motors and a universal joint (U-joint). Both kinematics of the robotic manipulator and the two-DOF joint are analysed. The influence to output ability of the joint in terms of the scale effect of the inclined plane is analysed in ADAMS simulation software. The contrast between the general and the proposed two-DOF joint is also studied. Finally, a physical prototype of the two-DOF joint is developed for experiments.

The kinematic analysis indicates that the joint can achieve omnidirectional deflection motion at a range of ±50° and the robotic manipulator can reach a similar workspace in comparison to the general robotic manipulator. Based on the kinematic analysis, two special motion modes are proposed to endow the two-DOF joint with better motion capabilities. The contrast simulation results between the general and the proposed two-DOF joints suggest that the proposed joint can perform better in the output ability. The experimental results verify the kinematic analysis and motion ability of the proposed two-DOF joint.

A new design concept of a robotic manipulator has been presented and verified. The complete kinematic analysis of a special two-DOF joint and a seven-DOF robotic manipulator have been resolved and verified. Compared with the general two-DOF joint, the proposed two-DOF joint can perform better in output ability.

The purpose of this paper is to develop a closed-loop supply chain (CLSC) network equilibrium model which consists of manufactures, retailers and consumer markets engaged in a Cournot pricing game with heterogeneous multi-product.

The authors model the optimal behavior of the various decision makers and CLSC network equilibrium, and derive the equilibrium conditions based on variational inequality approach. The authors present a new Newton method to solve the proposed model.

The authors find that the algorithm converges to the solution rapidly for most cases. Besides, the authors discuss the effect of some parameters on the equilibrium solution of the model, and give some insights for policy makers, such as improving the technology level of the manufacturer, reducing the cost of waste disposal and increase the minimum ration of used product to total quantity.

The authors derive the network equilibrium conditions by the variational inequality formulation in order to obtain the computation of the equilibrium flows and prices. The authors present a new Newton method to solve the proposed model. The authors discuss the effect of some parameters on the equilibrium solution of the model, and give some managerial insights

The purpose of this research is to reveal how to improve the quality of entrepreneurship by exploring the key factor, opportunity development, impacting the innovation strategy of new ventures. It also introduces political and business ties as moderating variables to reveal the uniqueness of entrepreneurial activities in the Chinese context.

Empirical data from 215 entrepreneurs and top executives in Chinese new ventures were gathered through a survey and the statistical method used is the regression model.

The empirical results indicate that: (1) new ventures' opportunity creation positively impacts innovation strategy, while opportunity discovery has a curvilinear (inverted U-shape) impact on innovation strategy; (2) the relationship between opportunity development and innovation strategy is moderated by political and business ties.

This research analyzes and compares the effect of opportunity discovery and opportunity creation on new ventures' innovation strategy. This research further offers an in-depth understanding of the influence mechanism between opportunity development and innovation strategy among Chinese new ventures. Further, the results provide practical guidance for new ventures to develop innovation strategies and for Chinese governments to make entrepreneurial policies.

Innovation and entrepreneurship are regarded as the key drivers to steer the engine of economic development in any nation. As a result, to understand the context and process of innovation and entrepreneurship there has been a steady rise in scientific literature and empirical studies. The purpose of this paper is to study the trends and progress of academic research on innovation and entrepreneurship in India by identifying the key articles, journals, authors and institutions.

Scientometric methods especially bibliometrics is used, for measuring the maturity of this research field in the country. The paper studies the research landscape in innovation and entrepreneurship in India by doing a bibliometric analysis using data from publications indexed in the Scopus database from the year 2000 to 2018. The study takes a multidisciplinary review of the literature in innovation and entrepreneurship research in India and could be used as a reference for future studies in this theme.

The study finds an increase in the scholarly studies in innovation and entrepreneurship in India in the last decade. It was also found that a large number of publications were joint-authored and collaborations between Indian and foreign universities is happening. The paper also highlights the authorship patterns, top journals and the most cited papers.

A major limitation of this study is that it has considered publications which are indexed in Scopus. This paper has contributed by highlighting the growth of studies in the field of innovation and entrepreneurship in the Indian context. The results can be used by future studies in this area as a starting point to highlight the nature of this research area.

The study attempts to present a trend analysis of published literature on innovation and entrepreneurship in India.