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Vertical urban settlements are becoming the predominant form of contemporary urban design in response to population increase and rapid urbanization. These developments are, however, perceived to be poorly designed and incongruent with the users’ needs. The purpose of this study was to present a resident satisfaction assessment of Hong Kong’s vertical settlements.

A review of the literature was conducted on the concept of vertical urbanism, residential satisfaction and postoccupancy evaluation. Fifty performance indicators were classified into three groups including indoor environment, safety and maintenance; furniture, utilities and spaces; and privacy, appearance and city life. These indicators were used to develop a Web-based questionnaire administered to residents in the three administrative regions of Hong Kong. Ninety-eight respondents participated in the study, and the results were analyzed using the resident satisfaction index and the overall satisfaction index. A multilinear regression analysis was also made to develop a model describing the most relevant performance indicators for determining the overall residential satisfaction.

The results revealed that residents expressed dissatisfaction with performance indicators, including “level of noise generated from outside the building (neighboring buildings, traffic, noise, etc.),” “variation and stability of indoor temperature,” “sustainable design of the building’s environment (cyclability, walkability, electric charging stations, etc.),” “availability and capacity of car parking,” “size and adequacy of spaces for social interaction” and “considerations for occupants with special needs (disabled, aged people, children, occupants with a medical condition, etc.).” The results also revealed that some indicators such as the maintenance of elevators, adequate interior space and surrounding areas were considered as significantly influencing residential satisfaction. Similarly, the building height and wind-induced motion were not significantly influencing residential satisfaction. The results also revealed that a multilinear Regression model with five variables and an adjusted R² value of 93% could estimate the overall residential satisfaction.

The concept of vertical urban design is the new paradigm in the shaping of future cities. The originality of this study is its adoption of post-occupancy evaluation to assess occupants’ residential satisfaction. As well as the determination of factors that should inform the planning, design and management of vertical urban settlements. Thus, the study has significant implications for research in vertical urban development, as well as the professional practice of building and urban planners, designers and managers.

The purpose of this study is to develop a robotic hand–arm system for on-orbit servicing missions at the Tiangong-2 (TG-2) Space Laboratory.

The hand–arm system is mainly composed of a lightweight arm, a dexterous hand, an electrical cabinet, a global camera, a hand–eye camera and some human–machine interfaces. The 6-DOF lightweight arm and the 15-DOF dexterous hand adopt the modular design philosophy that greatly reduces the design cycle and cost. To reduce the computational burden on the central controller and simplify system maintenance, an electrical system which has a hierarchical structure is introduced.

The prototypical operating experiments completed in TG-2 space laboratory demonstrate the performance of the hand–arm system and lay foundations for the future applications of space manipulators.

The main contributions of this paper are as follows a robotic hand–arm system which can perform on-orbit servicing missions such as grasping the electric drill, screwing the bolt, unscrewing J599 electrical connector has been developed; a variable time step motion plan method is proposed to adjust the trajectories of the lightweight arm to reduce or eliminate the collision force; and a dexterous hand uses the coordinated grasp control based on the object Cartesian stiffness to realize stable grasp. To solve the kinematic mapping from the cyber glove commands to the dexterous hand, a fingertip-position-based method is proposed to acquire precise solutions.

This paper aims to investigate the variations in the flow fields induced by transition regions in the windbreak structures between the flat ground and the cutting along a railway and to propose mitigation measures to improve the windproof ability of the windbreak.

The improved delayed detached eddy simulation method was used to simulate the impact of the windbreak transition on flow structures of the high-speed railway under different wind angles, and also the accuracy of the numerical results was validated with those of the wind tunnel test.

The results showed that the original windbreak transition region resulted in a dimensionless peak wind velocity of 0.62 and 0.82 for railway line-1 at wind angles of 90° and 75°, respectively, and the corresponding values were 0.81 and 0.97 for railway line-2. The flow structure analysis revealed the reason for the mismatched height in the transition region, and the right-angle structures of the windbreaks resulted in ineffective protection and sudden changes in the wind speed and direction. Two mitigation measures – oblique structure (OS) and circular curve structure (CCS) transition walls – were developed to reduce the peak wind speed. The OS provided superior protection. The peak value of dimensionless wind velocity was all less than 0.2 for OS and CCS.

The flow field deterioration mechanism induced by the inappropriate form of a windbreak transition at different wind angles was examined, and effective mitigation and improvement measures were proposed and compared with the original transition.

This research aims to investigate whether the uncertainty of gaining legitimacy from organizational change is an important antecedent of resistance to change and to explore why some enterprises are reluctant to choose institutional entrepreneurship for transformation when the uncertainty of gaining legitimacy from organizational change is high.

The hypotheses are tested by multiple regression analysis and structural equation model, using data collected from a big company with 14 subsidiaries undergoing organizational change.

Uncertainty of gaining legitimacy from organizational change not only results in resistance to change through the mediating variable – organizational readiness for change but also is an important influencing factor for enterprises’ choices of change strategy.

Transformational change may alter original organizational legitimacy so that some enterprises prefer isomorphic change and decoupling change to maintain original organizational legitimacy, rather than institutional entrepreneurship to seek new organizational legitimacy.

To foster innovation and a new form of creation for firms, governments should provide enterprises with legitimacy in time by establishing a rapid legitimacy learning mechanism to supplement institutional voids, whereas enterprises should promote organizational readiness for change to reduce the negative influence of the uncertainty of gaining legitimacy.

This research reveals that the uncertainty of gaining legitimacy from organizational change is an antecedent of resistance to change and enriches antecedent categorical presupposition of resistance to change. These findings provide valuable insight for explaining why enterprises in economic entities with institutional voids such as China chose similar change strategies rather than institutional entrepreneurship.

This paper aims to propose an enhanced static model of commercial braided pneumatic artificial muscles (PAMs), which is fully analytical without the need for experimentally determined parameters.

To address the highly nonlinear issues of PAMs, the enhanced model is derived considering the irregular shapes close to their end-fittings, as well as the elastic energy stored in both their braids and rubber bladders. The hysteresis characteristics of PAMs are also explored by analyzing the friction in the crossovers of the interlacing braided strands, together with that between the strands and their surrounding bladders. The isobaric and isometric experiments of a commercial PAM are conducted to demonstrate the enhancement, and the model accuracy is evaluated and compared with some existing models in terms of root mean square errors (RMSEs). Additionally, the proposed model is simplified to facilitate the applications that entail high computational efficiency.

The proposed model agrees well with the experimental results, which indicates its viability to accurately predict the static behaviors. An overall RMSE of 5.24 N shows that the enhanced model is capable of providing higher accuracy than the existing analytical models, while keeping the modeling cost at a minimum.

The proposed model, taking account of non-cylindrical shapes, elastic energy and friction, succeeds in enhancing the static predictions of commercial PAMs. The fully analytical model may accelerate the development of novel PAM-based robots for high-precision control, while giving a deeper understanding of commercial PAMs.

This study aims to design a controller which can improve the end-effector low-frequency chattering resulting from the measurement noise and the time delay in the on-orbit tasks. The rendezvous point will move along the rendezvous ring owing to the error of the camera, and the manipulators’ collision need be avoided. In addition, owing to the dynamics coupling, the manipulators’ motion will disturb the spacecraft, and the low tracking accuracy of the end-effector needs to be improved.

This paper proposes a minimum disturbance controller based on the synchronous and adaptive acceleration planning to improve the tracking error and the disturbance energy. The synchronous and adaptive acceleration planning method plans the optimal rendezvous point and designs synchronous approaching method and provides an estimation method of the rendezvous point acceleration. A minimum disturbance controller is designed based on the energy conservation to optimize the disturbance resulting from the manipulator’s motion.

The acceleration planning method avoids the collision of two end-effectors and reduces the error caused by the low-frequency chattering. The minimum disturbance controller minimizes the disturbance energy of the manipulators’ motion transferred to the spacecraft. Experiment results show that the proposed method improves the low-frequency chattering, and the average position tracking error reduces by 30%, and disturbance energy reduces by 30% at least. In addition, it has good performances in the synchronous motion and adaptive tracking.

Given the immeasurability of the target satellite acceleration in space, this paper proposes an estimation method of the acceleration. This paper proposes a synchronous and adaptive acceleration planning method. In addition, the rendezvous points are optimized to avoid the two end-effectors collisions. By the energy conservation, the minimum disturbance controller is designed to ensure a satisfying tracking error and reduce the disturbance energy resulting from the manipulators’ motion.

The purpose of this paper is to study the dynamic modeling and controller design for the series element actuator (SEA) joints. The robot equipped with SEA joints is a strong coupling, nonlinear, highly flexible system, which can prevent itself from damaging by the accidental impact and the people to be injured by the robot.

Based on the torque source model, the authors built a dynamic model for the SEA joint. To improve the accuracy of this model, the authors designed an elastic element into the joint and implemented the vector control for the joint motor. A control method of combined PD controller and back-stepping was proposed. Moreover, the torque control could be transformed into position control by stiffness transformation.

The established model and the proposed method are verified by the position and torque control experiments. The experimental results show that the dynamic model of the SEA joint is accurate and the proposed control strategies for the SEA joint are reasonable and feasible.

The main contribution of the paper is as follows: designing an elastic element with high linearity to improve the model accuracy of the SEA joint. The control strategy-based back-stepping method for the SEA joint is proposed to increase the robustness of the controller.

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 study is to present a novel hybrid closed-loop control method together with its performance validation for the dexterous prosthetic hand.

The hybrid closed-loop control is composed of a high-level closed-loop control with the user in the closed loop and a low-level closed-loop control for the direct robot motion control. The authors construct the high-level control loop by using electromyography (EMG)-based human motion intent decoding and electrical stimulation (ES)-based sensory feedback. The human motion intent is decoded by a finite state machine, which can achieve both the patterned motion control and the proportional force control. The sensory feedback is in the form of transcutaneous electrical nerve stimulation (TENS) with spatial-frequency modulation. To suppress the TENS interfering noise, the authors propose biphasic TENS to concentrate the stimulation current and the variable step-size least mean square adaptive filter to cancel the noise. Eight subjects participated in the validation experiments, including pattern selection and egg grasping tasks, to investigate the feasibility of the hybrid closed-loop control in clinical use.

The proposed noise cancellation method largely reduces the ES noise artifacts in the EMG electrodes by 18.5 dB on average. Compared with the open-loop control, the proposed hybrid closed-loop control method significantly improves both the pattern selection efficiency and the egg grasping success rate, both in blind operating scenarios (improved by 1.86 s, p < 0.001, and 63.7 per cent, p < 0.001) or in common operating scenarios (improved by 0.49 s, p = 0.008, and 41.3 per cent, p < 0.001).

The proposed hybrid closed-loop control method can be implemented on a prosthetic hand to improve the operation efficiency and accuracy for fragile objects such as eggs.

The primary contribution is the proposal of the hybrid closed-loop control, the spatial-frequency modulation method for the sensory feedback and the noise cancellation method for the integrating of the myoelectric control and the ES-based sensory feedback.

This paper aims to propose a real-time evolutionary multi-objective semi-analytical inverse kinematics (IK) algorithm (EMSA-IK) for solving the multi-objective IK of redundant manipulators.

Within EMSA-IK, the parameterization method is applied to reduce the number of optimization variables of the evolutionary algorithm and calculate semi-analytical solutions that meet high target pose accuracy. The original evolutionary algorithm is improved with the proposed adaptive search sub-space strategy so that the improved evolutionary algorithm can be used to efficiently perform global search within the parametric joint space to obtain the global optimal parametric joint angles that satisfy multi-objective constraints.

Ablation experiments show the effectiveness of the improved strategy used for evolutionary algorithms. Comparative experiments on different manipulators demonstrate the advantages of EMSA-IK in terms of generalizability and balancing multiple objectives, for example, motion continuity, joint limits and obstacle avoidance. Real-world experiments further validate the effectiveness of the proposed algorithm for real-time application.

The semi-analytical IK solution that simultaneously satisfies high target pose accuracy and multi-objective constraints can be obtained in real time. Compared to existing semi-analytical IK algorithms, the proposed algorithm achieves obstacle avoidance for the first time. The proposed algorithm demonstrates superior generalizability, applicable to not only redundant manipulators with revolute joints but also those with prismatic joints.