Abstract
Purpose
With the popularity of high-rise buildings, wall inspection and cleaning are becoming more difficult and associated with danger. The best solution is to replace manual work with wall-climbing robots. Therefore, this paper proposes a design method for a rolling-adsorption wall-climbing robot (RWCR) based on vacuum negative pressure adsorption of the crawler. It can improve the operation efficiency while solving the safety problems.
Design/methodology/approach
The pulleys and tracks are used to form a dynamic sealing chamber to improve the dynamic adsorption effect and motion flexibility of the RWCR. The mapping relationship between the critical minimum adsorption force required for RWCR downward slip, longitudinal tipping and lateral overturning conditions for tipping and the wall inclination angle is calculated using the ultimate force method. The pressure and gas flow rate distribution of the negative pressure chamber under different slit heights of the negative pressure mechanism is analysed by the fluid dynamics software to derive the minimum negative pressure value that the fan needs to provide.
Findings
Simulation and test results show that the load capacity of the RWCR can reach up to 6.2 kg on the smooth glass wall, and the maximum load in the case of lateral movement is 4.2 kg, which verifies the rationality and effectiveness of the design.
Originality/value
This paper presents a new design method of a RWCR for different rough wall surfaces and analyses the ultimate force state and hydrodynamic characteristics.
Details
Keywords
Jiajun Xu, Linsen Xu, Gaoxin Cheng, Jia Shi, Jinfu Liu, Xingcan Liang and Shengyao Fan
This paper aims to propose a bilateral robotic system for lower extremity hemiparesis rehabilitation. The hemiplegic patients can complete rehabilitation exercise voluntarily with…
Abstract
Purpose
This paper aims to propose a bilateral robotic system for lower extremity hemiparesis rehabilitation. The hemiplegic patients can complete rehabilitation exercise voluntarily with the assistance of the robot. The reinforcement learning is included in the robot control system, enhancing the muscle activation of the impaired limbs (ILs) efficiently with ensuring the patients’ safety.
Design/methodology/approach
A bilateral leader–follower robotic system is constructed for lower extremity hemiparesis rehabilitation, where the leader robot interacts with the healthy limb (HL) and the follow robot is worn by the IL. The therapeutic training is transferred from the HL to the IL with the assistance of the robot, and the IL follows the motion trajectory prescribed by the HL, which is called the mirror therapy. The model reference adaptive impedance control is used for the leader robot, and the reinforcement learning controller is designed for the follower robot. The reinforcement learning aims to increase the muscle activation of the IL and ensure that its motion can be mastered by the HL for safety. An asynchronous algorithm is designed by improving experience relay to run in parallel on multiple robotic platforms to reduce learning time.
Findings
Through clinical tests, the lower extremity hemiplegic patients can rehabilitate with high efficiency using the robotic system. Also, the proposed scheme outperforms other state-of-the-art methods in tracking performance, muscle activation, learning efficiency and rehabilitation efficacy.
Originality/value
Using the aimed robotic system, the lower extremity hemiplegic patients with different movement abilities can obtain better rehabilitation efficacy.
Details
Keywords
Gaoxin Cheng, Linsen Xu, Jiajun Xu, Jinfu Liu, Jia Shi, Shouqi Chen, Lei Liu, Xingcan Liang and Yang Liu
This paper aims to develop a robotic mirror therapy system for lower limb rehabilitation, which is applicable for different patients with individual movement disability levels.
Abstract
Purpose
This paper aims to develop a robotic mirror therapy system for lower limb rehabilitation, which is applicable for different patients with individual movement disability levels.
Design/methodology/approach
This paper puts forward a novel system that includes a four-degree-of-freedom sitting/lying lower limb rehabilitation robot and a wireless motion data acquisition system based on mirror therapy principle. The magnetorheological (MR) actuators are designed and manufactured, whose characteristics are detected theoretically and experimentally. The passive training control strategy is proposed, and the trajectory tracking experiments verify its feasibility. Also, the active training controller that is adapt to the human motor ability is designed and evaluated by the comparison experiments.
Findings
The MR actuators produce continuously variable and compliant torque for robotic joints by adjusting excitation current. The reference limb joint position data collected by the wireless motion data acquisition system can be used as the motion trajectory of the robot to drive the affected limb. The passive training strategy based on proportional-integral control proves to have great trajectory tracking performance through experiments. In the active training mode, by comparing the real-time parameters adjustment in two phases, it is certified that the proposed fuzzy-based regulated impedance controller can adjust assistance torque according to the motor ability of the affected limb.
Originality/value
The system developed in this paper fulfills the needs of robot-assisted mirror therapy for hemiplegic patients.
Details
Keywords
Social manufacturing has emerged. It aims to integrate the manufacturing resources of micro- and small-scale manufacturing enterprises (MSMEs) and help MSMEs cope with the…
Abstract
Purpose
Social manufacturing has emerged. It aims to integrate the manufacturing resources of micro- and small-scale manufacturing enterprises (MSMEs) and help MSMEs cope with the dynamic, service-oriented and personalized market demands. In social manufacturing, MSMEs cooperate with each other through manufacturing resource sharing. However, because MSMEs are distributed and decentralized, the efficiency of establishing reliable cooperation between MSMEs is relatively low. Therefore, this paper presents a blockchain-driven cyber-credit evaluation system (BCCES) to implement distributed cyber-credit evaluation. BCCES can provide reliable cyber-credit for distributed MSMEs without the trusted third party. This can improve the efficiency of establishing reliable cooperation among unauthentic MSMEs.
Design/methodology/approach
The paper proposes a BCCES to evaluate MSMEs' cyber-credit in decentralized environment. In BCCES, a cyber-credit evaluation model is proposed by improving set pair analysis (SPA) method, and cyber-credit smart contract and distributed consensus mechanism are designed according to the runtime logic of distributed cyber-credit evaluation.
Findings
The results confirmed that BCCES is feasible and effective to implement cyber-credit evaluation without the trusted third party. With the advantages of blockchain, BCCES can automatically realize cyber-credit evaluation through smart contract and distributed consensus. At the same time, BCCES can evaluate the real-time cyber-credit of MSMEs based on their latest service evaluation. In addition, we can design corresponding smart contracts according to actual requirements, which makes blockchain applicable to different distributed scenarios.
Originality/value
The paper combines blockchain and SPA to implement cyber-credit evaluation in social manufacturing and provides a new feasible idea for cyber-credit evaluation without the trusted third party. This can also provide MSMEs a reference of applying blockchain to other distributed scenarios through combining smart contract and different algorithms.
Details
Keywords
Enqin Gong, Yousong Wang, Xiaowei Zhou and Jiajun Duan
Environmental, social and governance (ESG) can enhance the sustainable value and profitability of assets by improving environmental responsibility, social benefits and governance…
Abstract
Purpose
Environmental, social and governance (ESG) can enhance the sustainable value and profitability of assets by improving environmental responsibility, social benefits and governance quality. However, there is a lack of research on the ESG aspects of the asset sustainability of infrastructure Real Estate Investment Trusts (REITs), particularly in terms of how ESG affects asset sustainability and their intrinsic relationships. Therefore, this study aims to explore the ESG factors affecting the asset sustainability of infrastructure REITs and their intrinsic linkages, in order to enhance the long-term sustainability of the asset.
Design/methodology/approach
The study employed structural equation modeling (SEM) to analyze the relationship between ESG factors and the sustainability of infrastructure REITs, through a comprehensive literature review and questionnaire survey to collect data. This method aims to provide a quantitative analysis framework to assess the impact strength and interactions of these factors.
Findings
The 11 ESG factors positively influence the sustainability of infrastructure assets. Specifically, carbon emission management, information disclosure and infrastructure asset management have the most substantial impacts, with path coefficients of 0.830, 0.814 and 0.817, respectively. Measures such as optimizing resource use, enhancing transparency and improving operational efficiency contribute to increased asset sustainability. Also, interviews indicate that asset managers and corporate executives with overseas educational backgrounds play a crucial role in the ESG management of infrastructure assets. Sustainability can be enhanced by promoting sustainable technologies and enhancing cross-cultural communication.
Practical implications
The results offer guidance for infrastructure REIT managers and policymakers, emphasizing the importance of strengthening specific ESG practices to enhance sustainability. This provides an empirical basis for optimizing ESG policies and practices, helping to advance infrastructure REITs towards more sustainable development directions.
Originality/value
This study offers new insights into the field of ESG for infrastructure REITs in China by providing specific analysis of ESG factors and applying SEM. The originality of this study lies in its deep exploration of the specific impact factors within the ESG dimensions and quantifying their relationship with sustainability, offering strong scientific support for the sustainable development practices of infrastructure REIT.
Details
Keywords
Jiajun Tan, Wai Peng Wong, Chee Keong Tan, Suriyan Jomthanachai and Chee Peng Lim
Technology is the lifeline for the logistics industry, and it has been immensely disrupted by the emerging blockchain technology. This paper has two main objectives. The first is…
Abstract
Purpose
Technology is the lifeline for the logistics industry, and it has been immensely disrupted by the emerging blockchain technology. This paper has two main objectives. The first is to explore how the current blockchain technology can be implemented in the logistics industry with the aim of improving logistic services amongst the network of logistics service providers (LSPs). The second is to propose the development of a blockchain model for the small and medium logistics service supply chain.
Design/methodology/approach
A prototype blockchain-based logistics system has been created and tested in a case study with a real logistics company. The primary technologies for developing a blockchain model on the Hyperledger platform as well as how the system is designed based on the logistics service flow are explained.
Findings
The study has resulted in the successful implementation of the proposed prototype blockchain-based logistics system. In particular, the case company has managed to fully utilise the developed tracking and tracing system. Whilst utilising the prototype, the participants have been able to fulfil their responsibilities in an effective manner. The performance of LSPs has improved following the World Bank Logistics Performance Index (LPI) criteria.
Originality/value
This paper contributes to current research in the application of blockchain technologies in the domain of logistics and the supply chain to progress LSPs towards Logistics 4.0. The current frameworks for Logistics 4.0 and how blockchain as a disruptive technology revolutionises logistic services are reviewed. In addition, this paper highlights the benefits of blockchain technology that LSPs can leverage to further improve their performance based on the LPI criteria.
Details
Keywords
Qun Shi, Wangda Ying, Lei Lv and Jiajun Xie
This paper aims to present an intelligent motion attitude control algorithm, which is used to solve the poor precision problems of motion-manipulation control and the problems of…
Abstract
Purpose
This paper aims to present an intelligent motion attitude control algorithm, which is used to solve the poor precision problems of motion-manipulation control and the problems of motion balance of humanoid robots. Aiming at the problems of a few physical training samples and low efficiency, this paper proposes an offline pre-training of the attitude controller using the identification model as a priori knowledge of online training in the real physical environment.
Design/methodology/approach
The deep reinforcement learning (DRL) of continuous motion and continuous state space is applied to motion attitude control of humanoid robots and the robot motion intelligent attitude controller is constructed. Combined with the stability analysis of the training process and control process, the stability constraints of the training process and control process are established and the correctness of the constraints is demonstrated in the experiment.
Findings
Comparing with the proportion integration differentiation (PID) controller, PID + MPC controller and MPC + DOB controller in the humanoid robots environment transition walking experiment, the standard deviation of the tracking error of robots’ upper body pitch attitude trajectory under the control of the intelligent attitude controller is reduced by 60.37 per cent, 44.17 per cent and 26.58 per cent.
Originality/value
Using an intelligent motion attitude control algorithm to deal with the strong coupling nonlinear problem in biped robots walking can simplify the control process. The offline pre-training of the attitude controller using the identification model as a priori knowledge of online training in the real physical environment makes up the problems of a few physical training samples and low efficiency. The result of using the theory described in this paper shows the performance of the motion-manipulation control precision and motion balance of humanoid robots and provides some inspiration for the application of using DRL in biped robots walking attitude control.
Details
Keywords
Guisheng Gan, Hao Yang, Jie Luo, Yongchong Ma, Jiajun Zhang, Xin Liu, Qiao He, Leqi Li and Dayong Cheng
The purpose of this study was to investigate the effects of aging time on the microstructure, mechanical properties and fracture morphology of Cu/Zn160%SAC0307/Al solder joints…
Abstract
Purpose
The purpose of this study was to investigate the effects of aging time on the microstructure, mechanical properties and fracture morphology of Cu/Zn160%SAC0307/Al solder joints produced through solid-state bonding.
Design/methodology/approach
Zn particles with a size of 1 µm and Sn-0.3Ag-0.7Cu (SAC0307) particles ranging from 20 to 38 µm were used to achieve Cu/Al micro-connections using ultrasonic assistance at a temperature of 180 °C, followed by aging treatment at 150 °C to enhance the quality of Cu/Al joints. Scanning electron microscopy was used for observing and analyzing the solder seam, interface microstructure, and fracture morphology. The structural composition was determined using energy dispersive spectroscopy, while a PTR-1102 bonding tester was used to measure the average shear strength.
Findings
The results indicated that the intermetallic compounds formed at the interface between Cu substrates and solder metal primarily consisted of smooth Cu5Zn8. The Al-side interface mainly comprises an Al-Sn-Zn solid solution, with Zn-Sn-Cu phases forming between SAC0307 particles at 180 °C. During the aging process, atomic diffusion was accelerated, leading to improved connection quality. The shear strength of the joints initially increased before decreasing as aging time progressed; it peaked at 32.92 MPa after 24 h – an increase of 76.8% compared to as-received joints. After reaching stability at 96 h, there was still a notable increase in shear strength by 48.4% relative to as-received joints.
Originality/value
This study further explores the strengthening mechanisms associated with solid-state bonded Cu/SACZ/Al joints through aging processes. Joints created via solid-state bonding demonstrate superior reliability compared to traditional soldered connections. It is anticipated that insights gained from this research will contribute valuable knowledge toward developing low-temperature soldering methodologies for heterogeneous materials.
Details
Keywords
Tao Li, Jiajun Shu, Yue Li, Yanlong Wang and Bo Liu
This study aims to provide a reference basis for waterproofing for the long-term safe operation of shield tunnels. Shielding subways in the long-term operation of tunnel tube…
Abstract
Purpose
This study aims to provide a reference basis for waterproofing for the long-term safe operation of shield tunnels. Shielding subways in the long-term operation of tunnel tube seams leads to opening, dislocation and other issues, which in turn cause the tube sealing gasket to break and ultimately cause water seepage, and the existing symmetrical sealing gasket arrangement cannot meet the waterproofing requirements of the tunnel structure.
Design/methodology/approach
First, we carry out an indoor “one-seam” hydrostatic test to quantitatively determine the waterproofing performance of symmetric and four asymmetric arrangements of gaskets. And the arrangement with the best stability and waterproofing performance is selected. Second, we establish a three-dimensional numerical seepage model for the waterproof failure of gaskets with different arrangements, which mechanistically explains the whole course of the gradual failure of the waterproof performance of gaskets with the wedging of water. Finally, we compare and analyze the experimental results with the numerical results to verify the reliability of the different analysis methods.
Findings
The results of the research show that the gasket will undergo four stages: the initial stage, deformation stage, wedging stage, and breakthrough stage during the continuous wedging process of the water body. Compared with the symmetric arrangement of the gasket, the asymmetric arrangement of the effective contact part of the gasket stress wave peaks and troughs is smaller, the deformation stage of the ability to resist the deformation of the water pressure is stronger, and the role of the water pressure between the two sealing gaskets of the stress path is less likely to be damaged.
Research limitations/implications
The current test can't fully reproduce real engineering site conditions as it ignores factors like temperature, time and aging during waterproofing tests and lacks tests based on actual application. Only one – seam test is done, lacking research on other seams. The current seepage model has difficulty reflecting some details and needs refinement.
Practical implications
The study focuses on the tube sheet joint problem in underground tunnels and proposes four asymmetric gasket arrangements, which are tested and analysed using a variety of methods. The results show that the asymmetric arrangement has a slower decline in waterproofing capacity and better stability, providing a new method and basis for solving tunnel waterproofing problems.
Originality/value
The study focuses on the tube sheet joint problem in underground tunnels and proposes four asymmetric gasket arrangements, which are tested and analysed using a variety of methods. The results show that the asymmetric arrangement has a slower decline in waterproofing capacity and better stability, providing a new method and basis for solving tunnel waterproofing problems.
Details
Keywords
Jiajun Li, Jianguo Tao, Liang Ding, Haibo Gao, Zongquan Deng, Yang Luo and Zhandong Li
The purpose of this paper is to extend the usage of stroke gestures in manipulation tasks to make the interaction between human and robot more efficient.
Abstract
Purpose
The purpose of this paper is to extend the usage of stroke gestures in manipulation tasks to make the interaction between human and robot more efficient.
Design/methodology/approach
In this paper, a set of stroke gestures is designed for typical manipulation tasks. A gesture recognition and parameter extraction system is proposed to exploit the information in stroke gestures drawn by the users.
Findings
The results show that the designed gesture recognition subsystem can reach a recognition accuracy of 99.00 per cent. The parameter extraction subsystem can successfully extract parameters needed for typical manipulation tasks with a success rate about 86.30 per cent. The system shows an acceptable performance in the experiments.
Practical implications
Using stroke gesture in manipulation tasks can make the transmission of human intentions to the robots more efficient. The proposed gesture recognition subsystem is based on convolutional neural network which is robust to different input. The parameter extraction subsystem can extract the spatial information encoded in stroke gestures.
Originality/value
The author designs stroke gestures for manipulation tasks which is an extension of the usage of stroke gestures. The proposed gesture recognition and parameter extraction system can make use of stroke gestures to get the type of the task and important parameters for the task simultaneously.