Abstract
Purpose
This study aims to improve the force sensing performance of the robot joint for the safety and flexibility of physical human–robot interaction.
Design/methodology/approach
A force sensing mechanism (FSM) for an S-shaped spring of a robot variable stiffness actuator (VSA) was designed. The yield strength of the spring material, geometric and assembly structure constraints of the VSA are all considered for the actuator deflection limit design. The elastic deformation model is solved in reverse to obtain the local deformation limit profile of the S-spring at different spring angles. The deformation limit mechanism is manufactured by three-dimensional printing and assembled with S-springs. The force sensing function for the VSA is achieved by the input and output shaft encoders and stiffness model. The FSM is verified by torque-deflection experiments with variable stiffness.
Findings
The yield strength of the S-spring material is the strictest constraint for elastic deformation. Experimental results show that the external force can be quickly and reliably perceived. As the spring angle increases (stiffness increases), the hysteresis and nonlinear error decrease. Under the constraint of the FSM, the maximum deflection also decreases rapidly.
Originality/value
The designed FSM based on the deformation and stiffness model provides a comprehensive design reference in a VSA with nonlinear elastic mechanisms, which is ignored but important for exploring the VSAs potential.
Details
Keywords
Kai Guo, Zhongli Han, Yipeng Wang, Yang Wang and Wei Tan
The purpose of this study is to reveal the interaction behavior between tubes and supports in steam generators and study the fretting wear of tubes in different load conditions.
Abstract
Purpose
The purpose of this study is to reveal the interaction behavior between tubes and supports in steam generators and study the fretting wear of tubes in different load conditions.
Design/methodology/approach
The fretting wear tests were conducted to investigate the fretting wear behavior of the tubes against three kinds of supports: the drilled circular holes (DCH), anti-vibration bars (AVBs) and trefoil orifice holes (TOH), which are widely used supports in nuclear steam generators. In this paper, the comparison of the interaction characteristic with different impact factors was established such as clearances and loads in the three kinds of supports. The fretting wear volume and scars were analyzed by a scanning electron microscope and 3D profiler.
Findings
The results show that impact can play a more important role in the DCH and TOH supports than that in AVBs. The normal work rate can be underestimated in the DCH and TOH supports.
Originality/value
The results of this study can be reference of fretting wear calculation in the design of steam generators with different kinds of supports and can be guidance in the maintenance of steam generators.
Peer review
The peer review history for this article is available at: https://publons.com/publon/10.1108/ILT-12-2019-0513/
Details
Keywords
Saad Waqar, Jiangwei Liu, Qidong Sun, Kai Guo and Jie Sun
This paper aims to investigate the influence of different post-annealing cooling conditions, i.e. furnace cooling (heat treatment (HT) 1 – slow cooling) and air cooling (HT 2 �…
Abstract
Purpose
This paper aims to investigate the influence of different post-annealing cooling conditions, i.e. furnace cooling (heat treatment (HT) 1 – slow cooling) and air cooling (HT 2 – fast cooling), on the microstructure and mechanical properties of selective laser melting (SLM) built austenitic 316L stainless steel (SS).
Design/methodology/approach
Three sets of 316L SS samples were fabricated using a machine standard scanning strategy. Each set consists of three tensile samples and a cubic sample for microstructural investigations. Two sets were subsequently subjected to annealing HT with different cooling conditions, i.e. HT 1 and HT 2, whereas one set was used in the as-built (AB) condition. The standard metallographic techniques of X-ray diffraction, scanning electron microscopy and electron back-scattered diffraction were used to investigate the microstructural variations induced by different cooling conditions. The resultant changes in mechanical properties were also investigated.
Findings
The phase change of SLM fabricated 316L was observed to be independent of the investigated cooling conditions and all samples consist of austenite phase only. Both HT 1 and HT 2 lead to dissolved characteristic melt pools of SLM. Noticeable increase in grain size of HT 1 and HT 2 samples was also observed. Compared with AB samples, the grain size of HT 1 and HT 2 was increased by 12.5% and 50%, respectively. A decreased hardness and strength, along with an increased ductility was also observed for HT 2 samples compared with HT 1 and AB samples.
Originality/value
From previous studies, it has been noticed that most investigations on HT of SLM fabricated 316L were mainly focused on the HT temperature or holding time. However, the post-HT cooling rate is also an equally important factor in deciding the microstructure and mechanical properties of heat-treated components. Therefore, this paper investigates the influence of different post-annealing cooling conditions on microstructure and mechanical properties of SLM fabricated 316L components. This study provides a foundation for considering the post-HT cooling rate as an influential parameter that controls the properties of heat-treated SLM components.
Details
Keywords
The aim of this paper is to use a new approach of performance evaluation, grey relation analysis (GRA), which is a concept borrowed from the study of industry and is increasingly…
Abstract
The aim of this paper is to use a new approach of performance evaluation, grey relation analysis (GRA), which is a concept borrowed from the study of industry and is increasingly applied to commerce. GRA is used to evaluate the relative performance of three of Australia's major banks The result of the study indicates that although the sample size is small and the distribution of data is unknown, GRA can still be successfully used in evaluating bank performance. In addition, this paper compares the GRA results with the financial statement analysis and shows that the same result can be obtained.
Details
Keywords
Xiao Wang, Xuan Liang, Bo Wang, Chang-qing Guo, Shan-gui Zhang, Kai Yang, Shi-ya Shao, Yan Sun, Zheng Guo, Xue-yan Yu, Donghai Zhang, Tai-jiang Gui, Wei Lu, Ming-liang Sun and Rui Ding
The purpose of this study is to evaluate the effect of graphene, basalt flakes and their synergy on the corrosion resistance of zinc-rich coatings. As the important heavy-duty…
Abstract
Purpose
The purpose of this study is to evaluate the effect of graphene, basalt flakes and their synergy on the corrosion resistance of zinc-rich coatings. As the important heavy-duty anticorrosion coatings, zinc-rich coatings provided cathodic protection for the substrate. However, to ensure cathodic protection, a large number of zinc powder made the penetration resistance known as the weakness of zinc-rich coatings. Therefore, graphene and basalt flakes were introduced into zinc-rich coatings to coordinate its cathodic protection and shielding performance.
Design/methodology/approach
Three kinds of coatings were prepared; they were graphene modified zinc-rich coatings, basalt flakes modified zinc-rich coatings and graphene-basalt flakes modified zinc-rich coatings. The anticorrosion behavior of painted steel was studied by using the electrochemical impedance spectroscopy (EIS) technique in chloride solutions. The equivalent circuit methods were used for EIS analysis to obtain the electrode process structure of the coated steel system. Simultaneously, the corrosion resistance of the three coatings was evaluated by water resistance test, salt water resistance test and salt spray test.
Findings
The study found that the addition of a small amount of graphene and basalt flakes significantly improved the anticorrosion performance of coatings by enhancing their shielding ability against corrosive media and increasing the resistance of the electrochemical reaction. The modified coatings exhibited higher water resistance, salt water resistance and salt spray resistance. The graphene-basalt flakes modified zinc-rich coatings demonstrated the best anticorrosion effect. The presence of basalt scales and graphene oxide in the coatings significantly reduced the water content and slowed down the water penetration rate in the coatings, thus prolonging the coating life and improving anticorrosion effects. The modification of zinc-rich coatings with graphene and basalt flakes improved the utilization rate of zinc powder and the shielding property of coatings against corrosive media, thus strengthening the protective effect on steel structures and prolonging the service life of anticorrosion coatings.
Originality/value
The significance of developing graphene-basalt flakes modified zinc-rich coatings lies in their potential to offer superior performance in corrosive environments, leading to prolonged service life of metallic structures, reduced maintenance costs and a safer working environment. Furthermore, such coatings can be used in various industrial applications, including bridges, pipelines and offshore structures, among others.
Details
Keywords
Fei Cheng, Kai Liu, Mao-Guo Gong, Kaiyuan Fu and Jiangbo Xi
The purpose of this paper is to design a robust tracking algorithm which is suitable for the real-time requirement and solves the mistake labeling issue in the appearance model of…
Abstract
Purpose
The purpose of this paper is to design a robust tracking algorithm which is suitable for the real-time requirement and solves the mistake labeling issue in the appearance model of trackers with the spare features.
Design/methodology/approach
This paper proposes a tracker to select the most discriminative randomly projected ferns and integrates a coarse-to-fine search strategy in this framework. First, the authors exploit multiple instance boosting learning to maximize the bag likelihood and select randomly projected fern from feature pool to degrade the effect of mistake labeling. Second, a coarse-to-fine search approach is first integrated into the framework of multiple instance learning (MIL) for less detections.
Findings
The quantitative and qualitative experiments demonstrate that the tracker has shown favorable performance in efficiency and effective among the competitors of tracking algorithms.
Originality/value
The proposed method selects the feature from the compressive domain by MIL AnyBoost and integrates the coarse-to-fine search strategy first to reduce the burden of detection. This paper designs a tracker with high speed and favorable results which is more suitable for real-time scene.
Details
Keywords
Lingyun Guo, Mingli Zhang, Kai Kang and Mu Hu
Drawing upon the social cognitive and customer engagement theories, the purpose of this paper is to investigate how individuals’ simple follow, purely aiming for information but…
Abstract
Purpose
Drawing upon the social cognitive and customer engagement theories, the purpose of this paper is to investigate how individuals’ simple follow, purely aiming for information but with little contribution, could affect fans behavior and make them engage in company social network (CSN). The study identifies the impact of personal motivators (follower participation motivation), environmental antecedents (perception of information quality) and individual behavior (fan engagement behavior and stickiness) on CSNs and examines the interaction relationship between the follower participation motivation and perception of information quality.
Design/methodology/approach
Data collected from 392 valid questionnaires from WeChat Official Account users were analyzed by structural equation modeling.
Findings
Personal factor such as follower participation motivation (intrinsic and extrinsic motivator) was found to be significant predictor of fan engagement behavior. Environmental factor (perception of information quality: perceived usefulness as well as perceived entertainment) was a significant factor in determining followers’ proclivity to engage in CNSs. One significant interaction effect was found: the effect of perceived entertainment on fan engagement behavior was manifested to a greater extent when followers’ participation aimed for intrinsic motivator. The second interaction effect, between the extrinsic motivator and perceived usefulness, was also found to be statistically significant.
Originality/value
This study enriches and extends the studies on the theories of customer engagement and social cognitive theory. It applies the above theories to CSNs and advances CSNs research by taking into consideration both personal and environmental factors (follower participation motivation and perception of information quality), and the interaction effects of the two on individual behavior.
Details
Keywords
Kai Wang, Jiaying Liu, Shuai Yang, Jing Guo and Yongzhen Ke
This paper aims to automatically obtain the implant parameter from the CBCT images to improve the outcome of implant planning.
Abstract
Purpose
This paper aims to automatically obtain the implant parameter from the CBCT images to improve the outcome of implant planning.
Design/methodology/approach
This paper proposes automatic simulated dental implant positioning on CBCT images, which can significantly improve the efficiency of implant planning. The authors introduce the fusion point calculation method for the missing tooth's long axis and root axis based on the dental arch line used to obtain the optimal fusion position. In addition, the authors proposed a semi-interactive visualization method of implant parameters that be automatically simulated by the authors' method. If the plan does not meet the doctor's requirements, the final implant plan can be fine-tuned to achieve the optimal effect.
Findings
A series of experimental results show that the method proposed in this paper greatly improves the feasibility and accuracy of the implant planning scheme, and the visualization method of planting parameters improves the planning efficiency and the friendliness of system use.
Originality/value
The proposed method can be applied to dental implant planning software to improve the communication efficiency between doctors, patients and technicians.
Details
Keywords
Kai DeMott, Nathalie Repenning, Fanny Almersson, Gianluca Chimenti, Gianluca F. Delfino, Nelson Duenas, Cecilia Fredriksson, Zhengqi Guo, Thomas Holde Skinnerup, Leonid Sokolovskyy and Xiaoyu Xu
The purpose of this paper revolves around the informal coming together of various doctoral students in the area of qualitative accounting and management research and the attempt…
Abstract
Purpose
The purpose of this paper revolves around the informal coming together of various doctoral students in the area of qualitative accounting and management research and the attempt to learn from their respective experiences. Together, the authors share personal reflections and valuable insights in revealing their vulnerabilities, aspirations and how they make sense of the PhD journey and their becoming as academics.
Design/methodology/approach
This paper builds on an open discussion and written reflections among the authors, who represent a diverse set of both doctoral students at various levels and recent graduates from different countries, schools and backgrounds.
Findings
The discussion highlights the struggles the authors experience as doctoral students, how they learn to cope with them as well as how they are socialized throughout their PhD journey. This allows them to take a critical stance towards increased productivity demands in academia and to embrace doctoral students as a powerful collective, whose aspirations may inspire a change of academic reality for the better.
Originality/value
While guidance on how to succeed as doctoral students is common, we seldom hear about doctoral students as particularly “fragile selves” (Knights and Clarke, 2014) who, as opposed to more established scholars, are more actively experiencing difficulties with finding their ways in academia. The authors are thus motivated to create a rare common voice of a group of doctoral students here by providing a more intimate account of the PhD journey.