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Article
Publication date: 6 December 2024

Haibo Li, Haitao Li and Hao Xiang

Based on the theory of planned behavior (TPB), the purpose of this study is to provide a well-supported explanation of how rural college students (RCS)’ entrepreneurial learning…

35

Abstract

Purpose

Based on the theory of planned behavior (TPB), the purpose of this study is to provide a well-supported explanation of how rural college students (RCS)’ entrepreneurial learning experiences (ELE) affect their returning home entrepreneurial intention (RHEI) through the three antecedents of TPB (Personal attitudes, PA; Subjective norms, SN and Perceived behavioral control, PBC).

Design/methodology/approach

An extension of the TPB was proposed, including the additional constructs of entrepreneurial learning experiences(ELE). Data were collected from a sample of 986 rural college students from ten universities and colleges located in China using a survey questionnaire. SEM was used to test the hypotheses and the relationships between variables.

Findings

RCS’ ELE significantly and positively influences the formation of their RHEI through the mediating effect of PBC. In addition, the three antecedents of TPB have direct and significant impact on RHEI, and PA, PBC indirectly mediate the relation between SN and RHEI.

Practical implications

The results of this study have implications for entrepreneurship educators and policymakers by promoting RCS’ RHEI through optimize the content and methods of entrepreneurship education from the perspective of students learning, and strengthening publicity for rural entrepreneurship, increase support for returning home entrepreneurship.

Originality/value

The role of ELE in forming RCS' RHEI has been underestimated by previous studies. This study combines the push-pull theory with TPB to explore the formation mechanism of RCS’ RHEI, and helps to understand the role of ELE in shaping RHEI through the development of an extended TPB intention-based model.

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Article
Publication date: 4 July 2023

Miaomiao Li, Guikun Cao, Haibo Li, Zhaoxing Hao and Lu Zhang

The purpose of this study is to explore how government subsidies influence technology innovation in new-energy enterprises in the new era of Industry 4.0. Specifically, this study…

405

Abstract

Purpose

The purpose of this study is to explore how government subsidies influence technology innovation in new-energy enterprises in the new era of Industry 4.0. Specifically, this study investigates the mediating effect of digital transformation and the moderating effect of a top management team (TMT) with digital experience.

Design/methodology/approach

Using a sample of 225 listed new-energy companies, with annual information, patent data, and financial data for the years 2010–2020, this study employs panel fixed effect regression models to obtain the results.

Findings

This study finds strong evidence that government subsidies promote the technology innovation of new-energy enterprises, and digital transformation partially mediates the effect of government subsidies on technology innovation. In addition, a TMT's digital experience moderates the effect of government subsidies on digital transformation, but has no significant moderating effect on the relationship between digital transformation and technology innovation. Further analysis shows that subsidies make a sustained contribution to both digital transformation and technological innovation over the next two years. The digital subsidies have a stronger role in promoting digital transformation and further technological innovation through digital transformation.

Practical implications

The Chinese government needs to continue to intermittently increase subsidies for new-energy enterprises, and focus on guiding enterprises' digital transformation. Chinese new-energy enterprises should pay attention to the importance of having TMTs with digital experience, make full use of government subsidies, actively implement digital transformation, and improve their innovation levels.

Originality/value

A new conceptual framework is proposed to examine the relationships between government subsidies, digital transformation, a TMT's digital experience, and technology innovation. This paper provides an important theoretical basis and practical reference for improving the technology innovation ability of Chinese new-energy enterprises, and the high-quality development of renewable energy in the context of Industry 4.0.

Details

Kybernetes, vol. 53 no. 11
Type: Research Article
ISSN: 0368-492X

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Article
Publication date: 11 November 2013

Haibo Li, Jun Chen and Yuzhong Xiao

There are process uncertainties and material property variations during laminated steel sheet forming, and those fluctuations may result in non-reliable forming quality issues…

363

Abstract

Purpose

There are process uncertainties and material property variations during laminated steel sheet forming, and those fluctuations may result in non-reliable forming quality issues such as fracture and delamination. Additionally, the optimization of sheet forming process is a typical multi-objective optimization problem. The target is to find a multi-objective design optimization and improve the process design reliability for laminated sheet metal forming. The paper aims to discuss these issues.

Design/methodology/approach

Desirability function approach is adopted to conduct deterministic multi-objective optimization, and response surface is used as meta-model. Reliability analysis is conducted to evaluate the robustness of the multi-objective design optimization. The proposed method is implemented in a step-bottom square cup drawing process. First, forming process parameters and three noise factors are assumed as probability variables to conduct reliability assessment of the laminated steel sheet forming process using Monte Carlo simulation. Next, only two forming process parameters, blank holding force and frictional coefficient, are considered as probability variables to investigate the influence of the forming parameter deviation on the variance of the response using the first-order second-moment method.

Findings

The results indicate that multi-objective design optimization using desirability function method has high efficiency, and an optimized robust design can be obtained after reliability assessment.

Originality/value

The proposed design procedure has potential as a simple and practical approach in the laminated steel sheet forming process.

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Article
Publication date: 15 October 2020

Enbo Li, Haibo Feng, Yanwu Zhai, Zhou Haitao, Li Xu and Yili Fu

One of the development trends of robots is to enable robots to have the ability of anthropomorphic manipulation. Grasping is the first step of manipulation. For mobile manipulator…

378

Abstract

Purpose

One of the development trends of robots is to enable robots to have the ability of anthropomorphic manipulation. Grasping is the first step of manipulation. For mobile manipulator robots, grasping a target during the movement process is extremely challenging, which requires the robots to make rapid motion planning for arms under uncertain dynamic disturbances. However, there are many situations require robots to grasp a target quickly while they move, such as emergency rescue. The purpose of this paper is to propose a method for target dynamic grasping during the movement of a robot.

Design/methodology/approach

An off-line learning from demonstrations method is applied to learn a basic reach model for arm and a motion model for fingers. An on-line dynamic adjustment method of arm speed for active and passive grasping mode is designed.

Findings

The experimental results of the robot movement on flat, slope and speed bumps ground show that the proposed method can effectively solve the problem of fast planning under uncertain disturbances caused by robot movement. The method performs well in the task of target dynamic grasping during the robot movement.

Originality/value

The main contribution of this paper is to propose a method to solve the problem of rapid motion planning of the robot arm under uncertain disturbances while the robot is grasping a target in the process of robot movement. The proposed method significantly improves the grasping efficiency of the robot in emergency situations. Experimental results show that the proposed method can effectively solve the problem.

Details

Industrial Robot: the international journal of robotics research and application, vol. 48 no. 1
Type: Research Article
ISSN: 0143-991X

Keywords

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Article
Publication date: 28 January 2025

Zhenguo Tao, Xu Li, Haibo Feng, Songyuan Zhang and Yili Fu

This study aims to design a novel 3 degree-of-freedom parallel-driven hydraulic wrist (PHW) joint, characterized by a compact structure, heavy payload capacity and spherical…

8

Abstract

Purpose

This study aims to design a novel 3 degree-of-freedom parallel-driven hydraulic wrist (PHW) joint, characterized by a compact structure, heavy payload capacity and spherical workspace.

Design/methodology/approach

In this paper, the kinematics and dynamics mathematical model of PHW is analyzed based on the closed-loop vector method, screw theory and virtual work principle. And the key parameters of PHW are determined based on the singularity analysis. The integrated design method of hydraulic and mechanical systems is used, thereby enabling a hose-less configuration that fosters a low-leakage hydraulic system structure with reduced self-weight. Additionally, this research proposed a dynamic nonlinear compensation control methodology predicated on a payload model to enhance the stability and precision of trajectory tracking for PHW. Finally, several experiments have been conducted to evaluate and validate the performance of the proposed approach and the payload capacity of PHW.

Findings

Experiment results show that PHW has a payload-to-self-weight ratio of 4(payload 14 kg with self-weight 3.5 kg) under supply pressure 7 MPa. The experimental assessment of payload capacity substantiates the efficacy of the dynamic nonlinear compensation control method for PHW. Remarkably, the trajectory tracking errors for PHW remain under 0.03 rad, even when subjected to payloads of 10.5 and 14 kg.

Originality/value

This study presents an effective parallel hydraulic-driven wrist structure. This parallel structure provides a spherical workspace with flexible motion, and larger payload capacity compared with the existing robot wrist.

Details

Industrial Robot: the international journal of robotics research and application, vol. ahead-of-print no. ahead-of-print
Type: Research Article
ISSN: 0143-991X

Keywords

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Article
Publication date: 2 January 2023

Enbo Li, Haibo Feng and Yili Fu

The grasping task of robots in dense cluttered scenes from a single-view has not been solved perfectly, and there is still a problem of low grasping success rate. This study aims…

253

Abstract

Purpose

The grasping task of robots in dense cluttered scenes from a single-view has not been solved perfectly, and there is still a problem of low grasping success rate. This study aims to propose an end-to-end grasp generation method to solve this problem.

Design/methodology/approach

A new grasp representation method is proposed, which cleverly uses the normal vector of the table surface to derive the grasp baseline vectors, and maps the grasps to the pointed points (PP), so that there is no need to add orthogonal constraints between vectors when using a neural network to predict rotation matrixes of grasps.

Findings

Experimental results show that the proposed method is beneficial to the training of the neural network, and the model trained on synthetic data set can also have high grasping success rate and completion rate in real-world tasks.

Originality/value

The main contribution of this paper is that the authors propose a new grasp representation method, which maps the 6-DoF grasps to a PP and an angle related to the tabletop normal vector, thereby eliminating the need to add orthogonal constraints between vectors when directly predicting grasps using neural networks. The proposed method can generate hundreds of grasps covering the whole surface in about 0.3 s. The experimental results show that the proposed method has obvious superiority compared with other methods.

Details

Industrial Robot: the international journal of robotics research and application, vol. 50 no. 3
Type: Research Article
ISSN: 0143-991X

Keywords

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Article
Publication date: 3 February 2025

Bo Xu, Xu Li, Haibo Feng and Yili Fu

The purpose of this paper is to design a flying wheel-legged humanoid robot (FWLR), endowing the robot with flight capability to improve the obstacle-crossing ability of the…

21

Abstract

Purpose

The purpose of this paper is to design a flying wheel-legged humanoid robot (FWLR), endowing the robot with flight capability to improve the obstacle-crossing ability of the wheel-legged humanoid robot. A flight control method using thrust-vector-control (TVC) under constant thrust strength is proposed, which reduces the performance requirements on the response speed of thrusters.

Design/methodology/approach

To endow the robot with flight capability, three sets of thrusters are installed at the robot’s back and two arm ends to provide flight lift and the direction of thrust can be changed through the arm swing. According to the robot configuration, this paper established a linearized dynamic model and proposed a constant-strength-thrust-vector-control (CSTVC) framework enabling the robot to achieve flight without thrust intensity change.

Findings

With the proposed modeling method and CSTVC framework, FWLR can inhibit attitude and position drift during takeoff and hovering, and has certain adaptability to takeoff attitude. Finally, FWLR reached a flying height up to 1 m under a 30 kg large self-weight with fixed thrust strength.

Originality/value

The design, modeling and flight control method proposed in this paper enables a human-sized wheel-legged humanoid robot to achieve takeoff and hovering for the first time. The movement range of wheel-legged humanoid robot is extended to the air, thereby enhancing its application value in emergency tasks such as disaster search-and-rescue.

Details

Industrial Robot: the international journal of robotics research and application, vol. ahead-of-print no. ahead-of-print
Type: Research Article
ISSN: 0143-991X

Keywords

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Article
Publication date: 26 August 2021

Xu Li, Yixiao Fan, Haoyang Yu, Haitao Zhou, Haibo Feng and Yili Fu

The purpose of this paper is to propose a novel jump control method based on Two Mass Spring Damp Inverted Pendulum (TMS-DIP) model, which makes the third generation of hydraulic…

524

Abstract

Purpose

The purpose of this paper is to propose a novel jump control method based on Two Mass Spring Damp Inverted Pendulum (TMS-DIP) model, which makes the third generation of hydraulic driven wheel-legged robot prototype (WLR-3P) achieve stable jumping.

Design/methodology/approach

First, according to the configuration of the WLR, a TMS-DIP model is proposed to simplify the dynamic model of the robot. Then the jumping process is divided into four stages: thrust, ascent, descent and compression, and each stage is modeled and solved independently based on TMS-DIP model. Through WLR-3P kinematics, the trajectory of the upper and lower centroids of the TMS-DIP model can be mapped to the joint space of the robot. The corresponding control strategies are proposed for jumping height, landing buffer, jumping attitude and robotic balance, so as to realize the stable jump control of the WLR.

Findings

The TMS-DIP model proposed in this paper can simplify the WLR dynamic model and provide a simple and effective tool for the jumping trajectory planning of the robot. The proposed approach is suitable for hydraulic WLR jumping control. The performance of the proposed wheel-legged jump method was verified by experiments on WLR-3P.

Originality/value

This work provides an effective model (TMS-DIP) for the jump control of WLR-3P. The results showed that the number of landing shock (twice) and the pitch angle fluctuation range (0.44 rad) of center of mass of the jump control method based on TMS-DIP model are smaller than those based on spring-loaded inverted pendulum model. Therefore, the TMS-DIP model makes the jumping process of WLR more stable and gentler.

Details

Industrial Robot: the international journal of robotics research and application, vol. 49 no. 2
Type: Research Article
ISSN: 0143-991X

Keywords

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Article
Publication date: 23 November 2020

Zhou Haitao, Haibo Feng, Li Xu, Songyuan Zhang and Yili Fu

The purpose of this paper is to improve control performance and safety of a real two-wheeled inverted pendulum (TWIP) robot by dealing with model uncertainty and motion…

282

Abstract

Purpose

The purpose of this paper is to improve control performance and safety of a real two-wheeled inverted pendulum (TWIP) robot by dealing with model uncertainty and motion restriction simultaneously, which can be extended to other TWIP robotic systems.

Design/methodology/approach

The inequality of lumped model uncertainty boundary is derived from original TWIP dynamics. Several motion restriction conditions are derived considering zero dynamics, centripedal force, ground friction condition, posture stability, control torque limitation and so on. Sliding-mode control (SMC) and model predictive control (MPC) are separately adopted to design controllers for longitudinal and rotational motion, while taking model uncertainty into account. The reference value of the moving velocity and acceleration, delivered to the designed controller, should be restricted in a specified range, limited by motion restrictions, to keep safe.

Findings

The cancelation of model uncertainty commonly existing in real system can improve control performance. The motion commands play an important role in maintaining safety and reliability of TWIP, which can be ensured by the proposed motion restriction to avoid potential movement failure, such as slipping, lateral tipping over because of turning and large fluctuation of body.

Originality/value

An inequation of lumped model uncertainty boundary incorporating comprehensive errors and uncertainties of system is derived and elaborately calculated to determine the switching coefficients of SMC. The motion restrictions for TWIP robot moving in 3D are derived and used to impose constraints on reference trajectory to avoid possible instability or failure of movement.

Details

Industrial Robot: the international journal of robotics research and application, vol. 48 no. 1
Type: Research Article
ISSN: 0143-991X

Keywords

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Article
Publication date: 23 May 2023

Dezhi Li, Lugang Yu, Guanying Huang, Shenghua Zhou, Haibo Feng and Yanqing Wang

To propose a new investment-income valuation model by real options approach (ROA) for old community renewal (OCR) projects, which could help the government attract private…

262

Abstract

Purpose

To propose a new investment-income valuation model by real options approach (ROA) for old community renewal (OCR) projects, which could help the government attract private capital's participation.

Design/methodology/approach

The new model is proposed by identifying the types of options private capital has in the OCR project, selecting the option model most suitable for private capital investment decisions, improving the valuation model through the triangular fuzzy numbers to take into account the uncertainty and flexibility, and demonstrating the feasibility of the calculation model through an actual OCR project case.

Findings

The new model can valuate OCR projects more accurately based on considering uncertainty and flexibility, compared with conventional methods that often underestimate the value of OCR projects.

Practical implications

The investment-income of OCR projects shall be re-valuated from the lens of real options, which could help reveal more real benefits beyond the capital growth of OCR projects, enable the government to attract private capital's investment in OCR, and alleviate government fiscal pressure.

Originality/value

The proposed OCR-oriented investment-income valuation model systematically analyzes the applicability of real option value (ROV) to OCR projects, innovatively integrates the ROV and the net present value (NPV) as expanded net present value (ENPV), and accurately evaluate real benefits in comparison with existing models. Furthermore, the newly proposed model holds the potential to be transferred to various social welfare projects as a tool to attract private capital's participation.

Details

Engineering, Construction and Architectural Management, vol. 31 no. 11
Type: Research Article
ISSN: 0969-9988

Keywords

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