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This paper explores the challenges of using cable-driven parallel robots on high-altitude, large-span facades, where redundancy in multicable systems and the elastic deformation of the cables are significant issues. This study aims to improve the accuracy and stability of the work platform through enhanced control strategies. These strategies address the redundancy in multicable systems and reduce the risks associated with cable deformation and mechanical failures during large-span movements.

The paper proposes a dynamic model for a four-rope parallel robot designed explicitly for large-span applications. The study introduces a position–force control strategy incorporating kinematic inverse solutions and a rope dynamics model to account for rope elasticity and its effects. This approach increases the number of system equations to match the unknowns, effectively solving the redundancy problem inherent in multicable systems. In addition, the tension changes of ropes and the stability of the working platform are examined under different motion distances (X = 50 m and X = 100 m) and varying Young’s modulus values (K = 5000 MPa and K = 8000 MPa).

This study’s large-span rope force–position control strategy successfully resolves the typical nonlinear characteristics and external disturbances in multicable parallel systems. By continuously monitoring and adjusting cable tension and end positions, this strategy ensures precise control over each cable’s tension, optimizes the distribution of cable tensions and maintains the system’s stability and response speed. The analysis in this paper indicates that this control strategy significantly improves the motion accuracy of robots operating on large-span high-altitude facades.

Industry adoption: The design and control strategies developed for the four-cable-driven parallel robot can be adopted by companies specializing in facade maintenance, construction or inspection. This could lead to safer, more efficient and cost-effective operations, especially in challenging environments like high-rise buildings. Innovation in robotic solutions: The research can inspire innovation within the field of robotics, particularly in developing robots for specific applications such as large surface maintenance. It showcases how adaptive control and stability can be achieved in complex operational scenarios. Safety improvements: By demonstrating a more stable and precise control mechanism for navigating large facades, the study could contribute to significant safety improvements, reducing the risk of accidents associated with manual facade maintenance and inspection tasks.

This paper combines the force/position hybrid control method with actual robotic applications, offering a novel solution to the complex issue of controlling cable-driven parallel robots in challenging environments. Thus, it contributes to the field. The proposed method significantly enhances the precision and stability of such systems and provides robust technical support for high-precision tasks in complex mechanical settings.

The purpose of this study was to investigate the tribological properties of bulk Fe₂B with pre-oxidation treatment.

Bulk Fe₂B was oxidized in an electric box furnace with a soaking time of 9 min under 750°C in air. Then, the tribological experiments were carried out on an UMT-Tribolab tester.

The oxide layer was composed of Fe, Fe₂O₃, Fe₃O₄, B₂O₃ and H₃BO₃. The oxidative direction of bulk Fe₂B was perpendicular to the sample surface. But, the oxidative direction of Fe₂B crystals was irregular. At 0.1 m/s, the friction coefficient was the lowest. The effects of shortening the running-in period of friction and reducing the friction coefficient by pre-oxidation treatment at 0.1 m/s were remarkable. Nevertheless, the effect of pre-oxidation treatment was futile at 0.2 m/s. Wear mechanisms of oxidized Fe₂B mainly were adhesive and abrasive wear.

The effects of shortening the running-in period of friction and reducing the friction coefficient by pre-oxidation treatment were remarkable.

This study aims to explore whether and how the two potential antecedents (i.e. relationship quality at the dyadic level and network density at the network level) affect firms’ internet-interactive capability (FIIC), referring to the capability of a specific firm to communicate and interact with the relevant partner firms on the basis of internet-interactive technologies in the internet environment and, at the same time, the following influence of FIIC on collaborative activities (i.e. joint planning and joint problem-solving).

This study designed a questionnaire and collected data on-site from 400 manufacturers. SmartPLS is used to validate the research model.

The results suggest that the dyadic relationship quality and network density of the partner group are both positively connected with a firm’s FIIC. Besides, FIIC is positively related to collaborative activities with its partners.

Given the nature of our data (i.e. cross-sectional), the authors can collect longitudinal or experimental data to retest the hypotheses.

This study gives certain guidance for firms to be aware of the factors that motivate FIIC and use their FIIC to influence their employees’ collaborative activities in their relationships with partners, thereby promoting cooperation performance.

This study attempts to extend the resource-based theory based on the logic of motivation-capability by exploring the potential antecedents of FIIC and makes contributions to the current studies on the antecedents of FIIC, which provides actionable insights for firms to play the role of FIIC in interfirm interactions.

Integrating transaction costs economics and task-technology fit theory, this study distinguishes two categories of social media–enabled interactions, namely task-related interactions and tie-related interactions, and explores the match between these two and firms' use of contracts in achieving safeguarding and coordinating purposes in interfirm governance.

Two studies were conducted to test the hypotheses. In Study 1, this study collaborated with a professional market research firm and collected responses from Chinese manufacturing firms in a survey. In Study 2, this study designed a scenario-based experiment and collected 239 participants from the Credamo platform.

This study categorized social media–enabled interactions into task-related interactions and tie-related interactions and conducted two studies to reveal that the safeguarding purpose of contract specificity is amplified by tie-related interactions, whereas the coordinating purpose of contract specificity is strengthened by task-related interactions.

This study assumes that firms permit and encourage the use of social media. However, some firms might prohibit the use of social media due to risk issues, or their partners may be prohibited from using social media.

Given that social media–enabled interactions have joint effects with contracts in achieving safeguarding and coordinating purposes, a firm's employees should match their goals with an appropriate type of social media–enabled interactions.

This study enriches the interfirm governance literature by uncovering the roles of these two types of interactions in matching contract specificity to achieve safeguarding and coordinating purposes, which provides actionable insights for managers in governing interfirm relationships.

With the development of social economy, the urbanization of the world has presented a new development trend. The green, ecological, and economic city has gradually attracted people's attention. How to plan new cities and towns to coordinate economic development with nature has been the focus of domestic and foreign scholars. Based on this premise, this article elaborates the domestic and foreign research status of ecological city and puts forward a new type of green ecological civilization from the perspective of evolution of civilization. From the perspective of green ecological economy, the evolution of China's urban planning is studied in terms of the urban and rural areas, nature, pollution, industry, culture, and other aspects. To accumulate experience, green ecological planning in New York is also analyzed at multiple levels, such as urban expansion, energy, and urban water use. According to the development of our country in the past 30 years, the development strategy of urbanization suitable to China's national conditions is introduced on the basis of ecological economy. From the perspective of green ecological planning and economy, practice has proved that new urban planning is able to promote the establishment of a resource-saving society, to enhance the coordinated development of the population, resources, environment, and economy, and to comprehensively improve people's quality of life.

The purpose of this paper is to review the relevant literature in order to identify trends and suggest some possible directions for future research in the framework of humanitarian aid distribution logistics with accessibility constraints.

The authors developed a systematic literature review to study the state of the art on distribution logistics considering accessibility constraints. The electronic databases used were Web of science, Scopus, Science Direct, Jstor, Emerald, EBSCO, Scielo and Redalyc. As a result, 49 articles were reviewed in detail.

This study identified some gaps, as well as some research opportunities. The main conclusions are the need for further studies on the interrelationships and hierarchies of multiple actors, explore intermodality, transshipment options and redistribution relief goods to avoid severe shortages in some nodes and excess inventory in others, studies of the vulnerability of transport networks, correlational analysis of road failures and other future lines.

The bibliography is limited to peer-reviewed academic journals due to their academic relevance, accessibility and ease of searching. Most of the studies included in the review were conducted in high-income countries, which may limit the generalizability of the results to low-income countries. However, the authors focused on databases covering important journals on humanitarian logistics.

This paper contextualises and synthesises research into humanitarian aid distribution logistics with accessibility constrains, highlights key themes and suggests areas for further research.