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The purpose of this paper is to develop an easily implemented and practical stabilizing strategy for the hardware-in-the-loop (HIL) system. As the status of HIL system in the ground verification experiment for space equipment keeps rising, the stability problems introduced by high stiffness of industrial robot and discretization of the system need to be solved ungently. Thus, the study of the system stability is essential and significant.

To study the system stability, a mathematical model is built on the basis of control circle. And root-locus and 3D root-locus method are applied to the model to figure out the relationship between system stability and system parameters.

The mathematical model works well in describing the HIL system in the process of capturing free-floating targets, and the stabilizing strategy can be adopted to improve the system dynamic characteristic which meets the needs of the practical application.

A method named 3D root-locus is extended from traditional root-locus method. And the improved method graphically displays the stability of the system under the influence of multivariable. And the strategy that stabilize the system with elastic component has a strong feasible and promotional value.

Rapid satellite capture by a free-floating space robot is a challenge problem because of no-fixed base and time-delay issues. This paper aims to present a modified target capturing control scheme for improving the control performance.

For handling such control problem including time delay, the modified scheme is achieved by adding a delay calibration algorithm into the visual servoing loop. To identify end-effector motions in real time, a motion predictor is developed by partly linearizing the space robot kinematics equation. By this approach, only ground-fixed robot kinematics are involved in the predicting computation excluding the complex space robot kinematics calculations. With the newly developed predictor, a delay compensator is designed to take error control into account. For determining the compensation parameters, the asymptotic stability condition of the proposed compensation algorithm is also presented.

The proposed method is conducted by a credible three-dimensional ground experimental system, and the experimental results illustrate the effectiveness of the proposed method.

Because the delayed camera signals are compensated with only ground-fixed robot kinematics, this proposed satellite capturing scheme is particularly suitable for commercial on-orbit services with cheaper on-board computers.

This paper is original as an attempt trying to compensate the time delay by taking both space robot motion predictions and compensation error control into consideration and is valuable for rapid and accurate satellite capture tasks.

The purpose of this paper is to develop a set of ground experiment system to verify the basic functions of space effector and the capturing reliability of space end-effector for the free-floating target payload in the three-dimensional space. The development of ground experiment system for space end-effector is essential and significant, because it costs too much to launch a space robot or other spacecraft and carry out operation tasks in space. Owing to the negligible gravity in space, which is different from that in the ground environment, ground experiment system for space end-effector should have the capability of verifying the basic functions of space effector and the reliability of space end-effector in capturing the free-floating target payload in space.

The ground experiment system for space end-effector mainly adopts the hybrid simulation method, which includes the real hardware experiment and software simulation. To emulate the micro-gravity environment, the contact dynamics simulator is applied to emulating the motion state of the free-floating target payload, while the admittance control is used to realize the “soft” capturing of space end-effector to simulate the real situation in space.

With the gravity compensation, the influence of gravity is almost eliminated and the results meet the requirements of the experiment. In the ground experiment, the admittance control is effective and the actual motion state of space end-effector capturing the target in space can be simulated. The experiment results show that space end-effector can capture the free-floating target payload successfully and hopefully have the ability to capture a free-floating target in space.

The system can verify space end-effector capturing the free-floating target payload in three-dimensional space and imitate the motion of space end-effector capturing the free-floating target in space. The system can also be modified and improved for application in the verification of space robot capturing and docking the target, which is valuable for the ground verification of space applications.

The purpose of this paper is to study the path optimization method of the manipulator in the lunar soil excavation and sampling process. The current research is a practical need for the excavation and sampling of the lunar soil in the lunar exploration project.

This paper proposes the objective function and constraints for path optimization during the excavation process of the lunar soil, regarding excavation time and energy consumption as the two key fitness indexes by analyzing the whole excavation process of the lunar soil. Specifically, the optimization is divided into two consecutive phases, one for the excavation path and the other one for joint motions. In the first phase, the Bézier polynomial is adopted to get the optimal excavation angle and reduce energy consumption. In the second phase, a method based on convex optimization, variable conversion and dynamic process discretization, is used to reduce excavation time and energy consumption.

Controlled experiments on the fine sand and the simulant lunar soil were conducted to verify the feasibility and effectiveness of the two phases of the optimization method, respectively.

The optimization method of the excavation tasks in this paper is of great value in theoretical and practical engineering, and it can be applied in other robotic operational tasks as well.

The purpose of this paper is to solve the ground verification and test method for space robot system capturing the target satellite based on visual servoing with time-delay in 3-dimensional space prior to space robot being launched.

To implement the approaching and capturing task, a motion planning method for visual servoing the space manipulator to capture a moving target is presented. This is mainly used to solve the time-delay problem of the visual servoing control system and the motion uncertainty of the target satellite. To verify and test the feasibility and reliability of the method in three-dimensional (3D) operating space, a set of ground hardware-in-the-loop simulation verification systems is developed, which adopts the end-tip kinematics equivalence and dynamics simulation method.

The results of the ground hardware-in-the-loop simulation experiment validate the reliability of the eye-in-hand visual system in the 3D operating space and prove the validity of the visual servoing motion planning method with time-delay compensation. At the same time, owing to the dynamics simulator of the space robot added in the ground hardware-in-the-loop verification system, the base disturbance can be considered during the approaching and capturing procedure, which makes the ground verification system realistic and credible.

The ground verification experiment system includes the real controller of space manipulator, the eye-in-hand camera and the dynamics simulator, which can veritably simulate the capturing process based on the visual servoing in space and consider the effect of time delay and the free-floating base disturbance.

Chinese consumers’ cross-border internet shopping, so called “haitao” is an emerging popular trend in China. Haitao can be understood as service innovation process because it creates new market spaces and provides differentiated values for Chinese customers.

This study aims to explore the service innovation strategies and success factors of haitao business in the Chinese market. The authors selected two successful haitao sites of Amazon.cn and Gmarket.co.kr, as representatives of a global player and a niche player, and conducted a comparative case study to analyze their service innovation strategies and key success factors.

This comparative case analysis based on value chain framework revealed some common success factors such as trust, advanced system and alliances as well as their service innovation efforts. Amazon has advantages such as efficient logistics system and global sourcing, whereas Gmarket has advantages such as product category, sales promotions, and payment system.

This study provides some implications for managers with localization, alliances and platform strategies.

The purpose of this study is to present a multi-scale analysis methodology for calculating the effective stiffnesses and the micro stresses of helically wound structures efficiently and accurately. The helically wound structure is widely applied in ocean and civil engineering as load-bearing structures with high flexibility, such as wire ropes, umbilical cables and flexible risers. Their structures are usually composed of a number of twisted subcomponents with relatively large slender ratio and have the one-dimensional periodic characteristic in the axial direction. As the huge difference between the axial length and the cross-section size of this type of structures, the finite element modeling and theoretical analysis based on some assumption are usually unavailable leading to the reduction of computability; even the optimization design becomes infeasible.

Based on the asymptotic homogenization theory, the one-dimensional periodic helically wound structure is equivalent to the one-dimensional homogeneous beam. A novel implementation of the homogenization is derived for the analysis of the effective mechanical properties of the helically wound structure, and the tensile, bending, torsional and coupling stiffness properties of the effective beam model are obtained. On this basis, a downscaling analysis formation for the micro-component stress in the one-dimensional periodic wound structure is constructed. The stress of micro-components in the specified geometry position of the helically wound structure is obtained basing on the asymptotic homogenization theory simultaneously.

By comparing with the result from finite element established accurately, the established multi-scale calculation method of the one-dimensional periodic helically wound structure is verified. The influence of size effects on the macro effective performance and the micro-component stress is discussed.

This paper will provide the theoretical basis for the efficient elastoplastic analysis of the helically wound structure, even the fatigue analysis. In addition, it is necessary to point out that the axial length of the helically wound structure in the general engineering problems that such as deep-sea risers and submarine cables.

Considering the industrial site environment and installation requirements, the straight-beam ultrasound probe with easy installation and good coupling agent adaptability is adopted to replace the traditional water immersion focusing probe for film thickness measurement in cylindrical roller bearings. The straight-beam probe has a large echo receiving range, which will result in measurement regions overlapping and bring about large measurement errors. In this paper, an improved measurement method for film thickness of cylindrical roller bearing with the straight-beam probe is developed.

An improved method is proposed to enhance the spatial resolution of the straight-beam probe. By introducing a correction coefficient based on the percentage of the effective measurement area, the method improves the measuring accuracy successfully.

The experimental results demonstrate that the lubricant-film thickness can be measured to reasonable accuracy by this method and have a better agreement with the theoretical film thickness solutions.

This paper used analytical method and model that is helpful for the improvement of the spatial resolution, which has great influence on the measuring accuracy, is mainly determined by the echo reflection area size of the ultrasound transducer.

Blockchain has the potential to facilitate a paradigm shift in the construction industry toward effectiveness, transparency and collaboration. However, there is currently a paucity of empirical evidence from real-world construction projects. This study aims to systematically review blockchain adoption barriers, investigate critical ones and propose corresponding solutions.

An integrated method was adopted in this research based on the technology–organization–environment (TOE) theory and fuzzy decision-making trial and evaluation laboratory (DEMATEL) approach. Blockchain adoption barriers were first presented using the TOE framework. Then, key barriers were identified based on the importance and causality analysis in the fuzzy DEMATEL. Several suggestions were proposed to facilitate blockchain diffusion from the standpoints of the government, the industry and construction organizations.

The results highlighted seven key barriers. Specifically, the construction industry is more concerned with environmental barriers, such as policy uncertainties (E2) and technology maturity (E3), while most technical barriers are causal factors, such as “interoperability (T4)” and “smart contracts' security (T2)”.

This study contributes to a better understanding of the problem associated with blockchain implementation and provides policymakers with recommendations.

Identified TOE barriers lay the groundwork for theoretical observations to comprehend the blockchain adoption problem. This research also applied the fuzzy method to blockchain adoption barrier analysis, which can reduce the uncertainty and subjectivity in expert evaluations with a small sample.

With the development of the modern technology and aerospace industry, the noise pollution is remarkably affecting people’s daily life and has been become a serious issue. Therefore, it is the most important task to develop efficient sound attenuation barriers, especially for the low-frequency audible range. However, low-frequency sound attenuation is usually difficult to achieve for the constraints of the conventional mass-density law of sound transmission. The traditional acoustic materials are reasonably effective at high frequency range. This paper aims to discuss this issue.

Membrane-type local resonant acoustic metamaterial is an ideal low-frequency sound insulation material for its structure is simple and lightweight. In this paper, the finite element method is used to study the low-frequency sound insulation performances of the coupled-membrane type acoustic metamaterial (CMAM). It consists of two identical tensioned circular membranes with fixed boundary. The upper membrane is decorated by a rigid platelet attached to the center. The sublayer membrane is attached with two weights, a central rigid platelet and a concentric ring with inner radius e. The influences of the distribution and number of the attached mass, also asymmetric structure on the acoustic attenuation characteristics of the CMAM, are discussed.

In this paper, the acoustic performance of asymmetric coupled-membrane metamaterial structure is discussed. The influences of mass number, the symmetric and asymmetry structure on the sound insulation performance are analyzed. It is shown that increasing the number of mass attached on membrane, structure exhibits low-frequency and multi-frequency acoustic insulation phenomenon. Compared with the symmetrical structure, asymmetric structure shows the characteristics of lightweight and multi-frequency sound insulation, and the sound insulation performance can be tuned by adjusting the distribution mode and location of mass blocks.

Membrane-type local resonant acoustic metamaterial is an ideal low-frequency sound insulation material for its structure is simple and lightweight. How to effectively broaden the acoustic attenuation band at low frequency is still a problem. But most of researchers focus on symmetric structures. In this study, the asymmetric coupled-membrane acoustic metamaterial structure is examined. It is demonstrated that the asymmetric structure has better sound insulation performances than symmetric structure.