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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.

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.

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.

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.

This paper aims to propose a method to solve the problem of localization and mapping of a two-wheeled inverted pendulum (TWIP) robot on the ground using the Stereo–inertial measurement unit (IMU) system. This method reparametrizes the pose according to the motion characteristics of TWIP and considers the impact of uneven ground on vision and IMU, which is more adaptable to the real environment.

When TWIP moves, it is constrained by the ground and swings back and forth to maintain balance. Therefore, the authors parameterize the robot pose as SE(2) pose plus pitch according to the motion characteristics of TWIP. However, the authors do not omit disturbances in other directions but perform error modeling, which is integrated into the visual constraints and IMU pre-integration constraints as an error term. Finally, the authors analyze the influence of the error term on the vision and IMU constraints during the optimization process. Compared to traditional algorithms, the algorithm is simpler and better adapt to the real environment.

The results of indoor and outdoor experiments show that, for the TWIP robot, the method has better positioning accuracy and robustness compared with the state-of-the-art.

The algorithm in this paper is proposed for the localization and mapping of a TWIP robot. Different from the traditional positioning method on SE(3), this paper parameterizes the robot pose as SE(2) pose plus pitch according to the motion of TWIP and the motion disturbances in other directions are integrated into visual constraints and IMU pre-integration constraints as error terms, which simplifies the optimization parameters, better adapts to the real environment and improves the accuracy of positioning.

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.

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.

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.

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.

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.

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.

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.

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.

In this study, superhydrophobic fabric is prepared with a wet-chemical coating technique that uses a coating solution synthesized by the co-hydrolysis and co-condensation of tetraethyl orthosilicate and fluoroalkyl silane (tridecafluorooctyl triethoxysilane) under an alkaline condition. The treated fabric shows stable superhydrophobicity with a water contact angle as high as 171°, and a sliding angle as low as 2°. The coated fabric has higher repellency to saline water, and its repellency increases with increases in the salt content in the solution. The contact angle is reduced with increases in liquid temperature. When the water temperature is 90°C, the contact angle on the superhydrophobic fabric is 153°. The superhydrophobic treatment slightly reduces the air permeability, but increases the water vapor permeability of the fabric. The treatment considerably increases the liquid breakthrough pressure, but has little effect on fabric pore size and thermal conductivity. The air gap membrane distillation process is used to evaluate the desalination performance of the superhydrophobic fabric. When the feed and the condenser are kept at 90°C and 20°C, respectively, the membrane distillation (MD) system with the superhydrophobic fabric yields a permeate flux of water up to 13.8 kg m^-2 hour^-1, which is slightly higher than that with the use of polymer and inorganic MD membranes reported. Superhydrophobic fabrics may thus be considered as effective MD membranes for water desalination applications.

This paper aims to present a new trajectory scheduling method to generate a smooth and continuous trajectory for a hybrid machining robot.

The trajectory scheduling method includes two steps. First, a G3 continuity local smoothing approach is proposed to smooth the toolpath. Then, considering the tool/joint motion and geometric error constraints, a jerk-continuous feedrate scheduling method is proposed to generate the trajectory.

The simulations and experiments are conducted on the hybrid robot TriMule-800. The simulation results demonstrate that this method is effectively applicable to machining trajectory scheduling for various parts and is computationally friendly. Moreover, it improves the robot machining speed and ensures smooth operation under constraints. The results of the S-shaped part machining experiment show that the resulting surface profile error is below 0.12 mm specified in the ISO standard, confirming that the proposed method can ensure the machining accuracy of the hybrid robot.

This paper implements an analytical local toolpath smoothing approach to address the non-high-order continuity problem of the toolpath expressed in G code. Meanwhile, the feedrate scheduling method addresses the segmented paths after local smoothing, achieving smooth and continuous trajectory generation to balance machining accuracy and machining efficiency.

The paper aims to present the non-local theory solution of two three-dimensional (3D) rectangular semi-permeable cracks in transversely isotropic piezoelectric media under a normal stress loading.

The fracture problem is solved by using the non-local theory, the generalized Almansi's theorem and the Schmidt method. By Fourier transform, this problem is formulated as three pairs of dual integral equations, in which the elastic and electric displacements jump across the crack surfaces. Finally, the non-local stress and the non-local electric displacement fields near the crack edges in piezoelectric media are derived.

Different from the classical solutions, the present solution exhibits no stress and electric displacement singularities at the crack edges in piezoelectric media.

According to the literature survey, the electro-elastic behavior of two 3D rectangular cracks in piezoelectric media under the semi-permeable boundary conditions has not been reported by means of the non-local theory so far.

Based on the non-local piezoelectricity theory, this paper is concerned with two collinear permeable Mode-I cracks in piezoelectric materials subjected to the harmonic stress wave. The paper aims to discuss this issue.

According to the Fourier transformation, the problem is formulated into two pairs of dual integral equations, in which the unknown variables are the displacement jumps across the crack surfaces.

Finally, the dynamic non-local stress and the dynamic non-local electric displacement fields near the crack tips are obtained. Numerical results are provided to illustrate the effects of the distance between the two collinear cracks, the lattice parameter and the circular frequency of the incident waves on the entire dynamic fields near the crack tips, which play an important role in designing new structures in engineering.

Different from the classical solutions, the present solution exhibits no stress and electric displacement singularities at the crack tips in piezoelectric materials. It is found that the maximum stress and maximum electric displacement can be used as a fracture criterion.

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.

This study aims to let researchers sort out the past, look to the future and boost further management research.

This paper takes the exploration of the application of AR in the field of management research as the starting point. Through the combing and induction of AR literature to accurately grasp the essential characteristics of AR, this paper analyzes the application prospects and possible difficulties of AR in the field of management research in China, puts forward specific suggestions and explores the specific path of the transformation of management academic research to practice from the perspective of research methods.

In research methods, empirical research and case studies have become the mainstream research methods, but there is a passive research limitation of “study what happens.” Action research is different from the standpoint of empirical research that is independent of the research object. It no longer simply treats managers as the “object of information acquisition,” but as the subject of participating in the research. Management should be oriented towards the transformation of practice, and action research (AR) that can organically integrate researchers and practitioners is just a “bridge” to break the gap between academia and business circles to establish a cooperative relationship.

This paper takes the exploration of the application of AR in the field of management research as the starting point. Through the combing and induction of AR literature to accurately grasp the essential characteristics of AR, this paper analyzes the application prospects and possible difficulties of AR in the field of management research in China, puts forward specific suggestions and explores the specific path of the transformation of management academic research to practice from the perspective of research methods.