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The purpose of this paper is to study the identification methods for multivariable nonlinear Box‐Jenkins systems with autoregressive moving average (ARMA) noises, based on the auxiliary model and the multi‐innovation identification theory.

A multi‐innovation generalized extended least squares (MI‐GELS) and a multi‐innovation generalized ex‐tended stochastic gradient (MI‐GESG) algorithms are developed for multivariable nonlinear Box‐Jenkins systems based on the auxiliary model. The basic idea is to construct an auxiliary model from the measured data and to replace the unknown terms in the information vector with their estimates (i.e. the outputs of the auxiliary model).

It is found that the proposed algorithms can give high accurate parameter estimation compared with existing stochastic gradient algorithm and recursive extended least squares algorithm.

In this paper, the AM‐MI‐GESG and AM‐MI‐GELS algorithms for MIMO Box‐Jenkins systems with nonlinear input are presented using the multi‐innovation identification theory and the proposed algorithms can improve the parameter estimation accuracy. The paper provides a simulation example.

The purpose of this paper is to study the parameter estimation problem of nonlinear multivariable output error moving average systems.

A partially coupled extended stochastic gradient algorithm is presented for nonlinear multivariable systems by using the decomposition technique.

The proposed algorithm can realize the coupled computation of the parameter estimates between subsystems.

This paper develops a coupled parameter estimation algorithm for nonlinear multivariable systems and directly estimates the system parameters without over-parameterization.

To solve the obstacle detection problem in robot autonomous obstacle negotiation, this paper aims to propose an obstacle detection system based on elevation maps for three types of obstacles: positive obstacles, negative obstacles and trench obstacles.

The system framework includes mapping, ground segmentation, obstacle clustering and obstacle recognition. The positive obstacle detection is realized by calculating its minimum rectangle bounding boxes, which includes convex hull calculation, minimum area rectangle calculation and bounding box generation. The detection of negative obstacles and trench obstacles is implemented on the basis of information absence in the map, including obstacles discovery method and type confirmation method.

The obstacle detection system has been thoroughly tested in various environments. In the outdoor experiment, with an average speed of 22.2 ms, the system successfully detected obstacles with a 95% success rate, indicating the effectiveness of the detection algorithm. Moreover, the system’s error range for obstacle detection falls between 4% and 6.6%, meeting the necessary requirements for obstacle negotiation in the next stage.

This paper studies how to solve the obstacle detection problem when the robot obstacle negotiation.

The intelligent Central Traffic Control (CTC) system plays a vital role in establishing an intelligent high-speed railway (HSR) system. As the core of HSR transportation command, the intelligent CTC system is a new HSR dispatching command system that integrates the widely used CTC in China with the practical service requirements of intelligent dispatching. This paper aims to propose key technologies and applications for intelligent dispatching command in HSR in China.

This paper first briefly introduces the functions and configuration of the intelligent CTC system. Some new servers, terminals and interfaces are introduced, which are plan adjustment server/terminal, interface for automatic train operation (ATO), interface for Dynamic Monitoring System of Train Control Equipment (DMS), interface for Power Supervisory Control and Data Acquisition (PSCADA), interface for Disaster Monitoring, etc.

The key technologies applied in the intelligent CTC system include automatic adjustment of train operation plans, safety control of train routes and commands, traffic information data platform, integrated simulation of traffic dispatching and ATO function. These technologies have been applied in the Beijing-Zhangjiakou HSR, which commenced operations at the end of 2019. Implementing these key intelligent functions has improved the train dispatching command capacity, ensured the safe operation of intelligent HSR, reduced the labor intensity of dispatching operators and enhanced the intelligence level of China's dispatching system.

This paper provides further challenges and research directions for the intelligent dispatching command of HSR. To achieve the objectives, new measures need to be conducted, including the development of advanced technologies for intelligent dispatching command, coping with new requirements with the development of China's railway signaling system, the integration of traffic dispatching and train control and the application of AI and data-driven modeling and methods.

This study aims to specify whether heterogeneous reference-point-based aspirations are related to the cooperation levels of R&D alliance portfolios in a positive or negative (or nonlinear) way, and to unveil how cooperative behaviors evolve in recurrent project cooperation.

This study establishes a network containing a cooperation subnetwork and a project subnetwork based on patent data in the “deep learning” field to investigate how cooperative behaviors evolve in R&D alliance portfolios. A model of evolutionary games on complex networks is constructed to gain insight into the dynamic evolution of DMs’ strategies.

First, the heterogeneous aspirations of DMs can improve the cooperation level in R&D alliance portfolios. Second, compared to prudent DMs, aggressive DMs are more likely to choose the cooperation strategy, implying that an appropriate aspiration level nurtures cooperative R&D endeavors with partners. Third, the effects of effort complementarity, knowledge reorganization capabilities and cooperation supervision on cooperation are contingent on the distribution of DMs’ aspiration types.

Policymakers should identify aspiration types of DMs when screening partners. They can encourage partners to focus more on historical payoffs and establish relatively higher aspiration levels to improve the cooperation level. Developing highly detailed contracts becomes crucial when cooperating with firms that possess extensive knowledge reorganization capabilities.

This work contributes a theoretical framework for investigating cooperation in R&D alliance portfolios through the lens of evolutionary games on complex networks, thus revealing the effects of heterogeneous reference-point-based aspirations of DMs on R&D cooperation.

The purpose of this paper is to study the landing performance of the Mars lander considering uncertain landing conditions under two landing modes.

A dynamics analysis model for the legged Mars lander is established for landing simulation, where the nonlinear large-deformation flexible buffer rods are equivalently modeled with a rigid-body mechanism with external forces and movement limit. Sensitivities of the landing stability to various landing conditions are analyzed using the Quasi–Monte-Carlo-based Sobol’ method and computer-aided landing simulations. Moreover, based on the results of sensitivity analysis, sensitive parameters are selected for estimating the safe boundaries for stability indices of rotation and clearance.

It can be concluded from this study that the lander has excellent ability against overturning. The shutdown-before-touchdown strategy helps to maintain than landing pose, and the shutdown-at-touchdown strategy helps to prevent the nozzle from colliding with the surface of Mars.

This study provides a theoretical reference to choose the better landing strategies for Mars landers considering uncertain landing conditions.

A parameterized dynamics Mars lander model and a simplification method are proposed to simulate the landing on Mars. Uncertain landing conditions are parameterized and considered in the dynamics model. Sensitivity analysis and safe boundary methods are used to compare the landing performances with two landing strategies.

This paper is supposed to provide a critical review of current research progress on thermal management in grinding of superalloys, and future directions and challenges. By understanding the current progress and identifying the developing directions, thermal management can be achieved in the grinding of superalloys to significantly improve the grinding quality and efficiency.

The relevant literature is collected from Web of Science, Scopus, CNKI, Google scholar, etc. A total of 185 literature is analyzed, and the findings in the literature are systematically summarized. In this case, the current development and future trends of thermal management in grinding of superalloys can be concluded.

The recent developments in grinding superalloys, demands, challenges and solutions are analyzed. The theoretical basis of thermal management in grinding, the grinding heat partition analysis, is also summarized. The novel methods and technologies for thermal management are developed and reviewed, i.e. new grinding technologies and parameter optimization, super abrasive grinding wheel technologies, improved lubrication, highly efficient coolant delivery and enhanced heat transfer by passive thermal devices. Finally, the future trends and challenges are identified.

Superalloys have excellent physical and mechanical properties, e.g. high thermal stability, and good high-temperature strength. The superalloys have been broadly applied in the aerospace, energy and automobile industries. Grinding is one of the most important precision machining technologies for superalloy parts. Owing to the mechanical and physical properties of superalloys, during grinding processes, forces are large and a massive heat is generated. Consequently, the improvement of grinding quality and efficiency is limited. It is important to conduct thermal management in the grinding of superalloys to decrease grinding forces and heat generation. The grinding heat is also dissipated in time by enhanced heat transfer methods. Therefore, it is necessary and valuable to holistically review the current situation of thermal management in grinding of superalloys and also provide the development trends and challenges.

The tactile sensor with array structure normally has the defects of existing nondetection zone, complex and nonstretchable structure. It is difficult to seamlessly attach to the surface of the robot. For this reason, this paper proposes a method to prepare nonarray structure tactile sensor directly on the surface of the robot by spraying process.

Based on the principle of gradient potential distribution, the potential fields are constructed in two different directions over the conductive film in time-sharing. The potentials at touching position in the two directions are detected to determine the coordinate of the touching point. The designed tactile sensor based on this principle consists of only three layers. Its bottom layer is designed as a weak conductive film made of graphite coating and used to construct the potential field. It can be sprayed either on PET substrate or directly on robot surface.

The radial basis function neural network is used for remodeling the potential distribution, which can effectively solve the problem of nonlinear potential distribution caused by irregular sensor shape, and uneven conductivity at different points of the spraying coating. The simulation and experimental results show that the principle of the proposed tactile sensor used for touching position detection is feasible to be applied to complex surfaces of the robot.

This paper proposed a nonarray customizable tactile sensor based on the spraying process. The sensor has a simple structure, and only five lead wires are needed to realize the coordinate detection of the touch position.

For some years now, Cameroon has seen a significant increase in its electricity demand, and this need is bound to grow within the next few years owing to the current economic growth and the ambitious projects underway. Therefore, one of the state's priorities is the mastery of electricity demand. In order to get there, it would be helpful to have reliable forecasting tools. This study proposes a novel version of the discrete grey multivariate convolution model (ODGMC(1,N)).

Specifically, a linear corrective term is added to its structure, parameterisation is done in a way that is consistent to the modelling procedure and the cumulated forecasting function of ODGMC(1,N) is obtained through an iterative technique.

Results show that ODGMC(1,N) is more stable and can extract the relationships between the system's input variables. To demonstrate and validate the superiority of ODGMC(1,N), a practical example drawn from the projection of electricity demand in Cameroon till 2030 is used. The findings reveal that the proposed model has a higher prediction precision, with 1.74% mean absolute percentage error and 132.16 root mean square error.

These interesting results are due to (1) the stability of ODGMC(1,N) resulting from a good adequacy between parameters estimation and their implementation, (2) the addition of a term that takes into account the linear impact of time t on the model's performance and (3) the removal of irrelevant information from input data by wavelet transform filtration. Thus, the suggested ODGMC is a robust predictive and monitoring tool for tracking the evolution of electricity needs.

The purpose of the paper is to investigate compensation and related welfare issues in the case of the expropriation of land for urban redevelopment in China.

A mixed methods quantitative and qualitative approach was selected to undertake the research. This involved a wide ranging qualitative review of the academic and policy literature to explore the relevant arguments and issues, combined with a quantitative regression analysis of survey data collected from research subjects.

The research identified the complex and changeable phenomena of urban village redevelopment in China, and the variable compensation arrangements used. The research found that monthly family income before land expropriation, monthly family expense before expropriation, the location of the housing expropriation and family unit size are important determinants for the property holders chosen methods of compensation. It also found that an increase in family size leads to a decreasing probability that the expropriated farmers choose the single monetary compensation relative to the alternative option of housing compensation. The degree of satisfaction with compensation, changes in monthly family income and expense are found to be significant determinants for changes in life satisfaction.

The research made the following four recommendations based upon the qualitative and quantitative analysis: that local governments should pay closer governance/ political attention to changes in the welfare of the farmers/ villagers whose property has been expropriated; that central and local government should aim to improve the compensation system for rural land and property expropriation, to make the compensation policy be perceived as fairer and more reasonable by citizens; that a broad National standard of compensation be used within a pragmatic locally focussed regime; that the Chinese Central, Provincial and Local governments can devise improved policy tools and make more effective policy interventions by learning from the experiences (both successes and failures) of other countries approaches to this topic. It also suggested that further research be undertaken investigating the multitude of local level policy experiments, as a way of developing better National compensation standards based upon those compensation standards that appear to be working – and have citizen support – at the local level.

The literature review identified recent developments in Chinese urban studies and originally synthesised both recent and longstanding work on the issue of urban villages in China. The research also suggested changes to the National and Local legal and policy framework for compensation cases in urban redevelopment expropriation scenarios.