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Article
Publication date: 1 December 2021

Shanlin Zhong, Ziyu Chen and Junjie Zhou

Human-like musculoskeletal robots can fulfill flexible movement and manipulation with the help of multi joints and actuators. However, in general, sophisticated structures…

226

Abstract

Purpose

Human-like musculoskeletal robots can fulfill flexible movement and manipulation with the help of multi joints and actuators. However, in general, sophisticated structures, accurate sensors and well-designed control are all necessary for a musculoskeletal robot to achieve high-precision movement. How to realize the reliable and accurate movement of the robot under the condition of limited sensing and control accuracy is still a bottleneck problem. This paper aims to improve the movement performance of musculoskeletal system by bio-inspired method.

Design/methodology/approach

Inspired by two kinds of natural constraints, the convergent force field found in neuroscience and attractive region in the environment found in information science, the authors proposed a structure transforming optimization algorithm for constructing constraint force field in musculoskeletal robots. Due to the characteristics of rigid-flexible coupling and variable structures, a constraint force field can be constructed in the task space of the musculoskeletal robot by optimizing the arrangement of muscles.

Findings

With the help of the constraint force field, the robot can complete precise and robust movement with constant control signals, which brings in the possibility to reduce the requirement of sensing feedback during the motion control of the robot. Experiments are conducted on a musculoskeletal model to evaluate the performance of the proposed method in movement accuracy, noise robustness and structure sensitivity.

Originality/value

A novel concept, constraint force field, is proposed to realize high-precision movements of musculoskeletal robots. It provides a new theoretical basis for improving the performance of robotic manipulation such as assembly and grasping under the condition that the accuracy of control and sensory are limited.

Details

Assembly Automation, vol. 42 no. 2
Type: Research Article
ISSN: 0144-5154

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Article
Publication date: 10 November 2022

Sifeng Liu, Yong Tao, Naiming Xie, Liangyan Tao and Mingli Hu

The purpose of this paper is to summarize the advances in grey system theory research and various application achievements in science and engineering. At the same time, it…

343

Abstract

Purpose

The purpose of this paper is to summarize the advances in grey system theory research and various application achievements in science and engineering. At the same time, it commemorates the 40th anniversary of the birth of grey system theory and the 10th anniversary of Grey Systems–Theory and Application.

Design/methodology/approach

Firstly, the innovations of theoretical research in grey system theory were summarized and some of the widely recognized new results are briefly described. By searching and combing the research results of grey system theory in China national knowledge infrastructure (CNKI) database and Web of Science by Institute for Scientific Information (ISI), this paper shows the rapid development trend of grey system theory in the past 40 years, and the successful applications of grey system theory in the fields of social sciences, natural sciences and engineering technologies.

Findings

More than 227 thousands literature were found by input 10 phrases such as grey system, grey number and sequence operator etc. in CNKI database. After entering the new century, the number of grey system papers included in CNKI database is increasing rapidly. Since 2008, more than 10 thousands papers have been included per year and more than 15 thousands papers have been included per year since 2014. Grey system method and model are widely used in physics, chemistry, biology and other fields of natural science, as well as transportation, electric power, machinery and other fields of engineering technology, and a large number of valuable results have been achieved.

Practical implications

It can be seen that the grey system theory plays an important role in promoting China’s scientific and technological progress, innovation and development and high-level talent training from tens of thousands of literatures marked with important national science and technology projects and a large number of grey system literatures published by China’s double first-class universities and double first-class discipline construction universities.

Originality/value

Both innovations of theoretical research and practical application play important role in the growth of new theory. The innovations of theoretical research provide methods and tools for practical application, which is conducive to improve application efficiency and broaden application fields. A large number of practical applications needs have become the source of theoretical innovation and the solid background for the birth of theoretical innovation achievements.

Details

Grey Systems: Theory and Application, vol. 12 no. 4
Type: Research Article
ISSN: 2043-9377

Keywords

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Article
Publication date: 1 February 2016

Sifeng Liu, Yingjie Yang, Naiming Xie and Jeffrey Forrest

The purpose of this paper is to summarize the progress in grey system research during 2000-2015, so as to present some important new concepts, models, methods and a new framework…

1898

Abstract

Purpose

The purpose of this paper is to summarize the progress in grey system research during 2000-2015, so as to present some important new concepts, models, methods and a new framework of grey system theory.

Design/methodology/approach

The new thinking, new models and new methods of grey system theory and their applications are presented in this paper. It includes algorithm rules of grey numbers based on the “kernel” and the degree of greyness of grey numbers, the concept of general grey numbers, the synthesis axiom of degree of greyness of grey numbers and their operations; the general form of buffer operators of grey sequence operators; the four basic models of grey model GM(1,1), such as even GM, original difference GM, even difference GM, discrete GM and the suitable sequence type of each basic model, and suitable range of most used grey forecasting models; the similarity degree of grey incidences, the closeness degree of grey incidences and the three-dimensional absolute degree of grey incidence of grey incidence analysis models; the grey cluster model based on center-point and end-point mixed triangular whitenization functions; the multi-attribute intelligent grey target decision model, the two stages decision model with grey synthetic measure of grey decision models; grey game models, grey input-output models of grey combined models; and the problems of robust stability for grey stochastic time-delay systems of neutral type, distributed-delay type and neutral distributed-delay type of grey control, etc. And the new framework of grey system theory is given as well.

Findings

The problems which remain for further studying are discussed at the end of each section. The reader could know the general picture of research and developing trend of grey system theory from this paper.

Practical implications

A lot of successful practical applications of the new models to solve various problems have been found in many different areas of natural science, social science and engineering, including spaceflight, civil aviation, information, metallurgy, machinery, petroleum, chemical industry, electrical power, electronics, light industries, energy resources, transportation, medicine, health, agriculture, forestry, geography, hydrology, seismology, meteorology, environment protection, architecture, behavioral science, management science, law, education, military science, etc. These practical applications have brought forward definite and noticeable social and economic benefits. It demonstrates a wide range of applicability of grey system theory, especially in the situation where the available information is incomplete and the collected data are inaccurate.

Originality/value

The reader is given a general picture of grey systems theory as a new model system and a new framework for studying problems where partial information is known; especially for uncertain systems with few data points and poor information. The problems remaining for further studying are identified at the end of each section.

Details

Grey Systems: Theory and Application, vol. 6 no. 1
Type: Research Article
ISSN: 2043-9377

Keywords

Available. Open Access. Open Access
Article
Publication date: 3 November 2020

Vera Amicarelli and Christian Bux

Given the importance of food waste in the economic, social, health and environmental dimensions, the purpose of this work is to detect, through a systematic and configurative…

12329

Abstract

Purpose

Given the importance of food waste in the economic, social, health and environmental dimensions, the purpose of this work is to detect, through a systematic and configurative literature review on food-waste-measurement methodologies, the global approaches, characteristics, limitations, opportunities and results applied within the literature. The analysis of these papers provides useful information about how far we are from international action plans and, therefore, how we need to direct programs and policies to measure and reduce food waste and ensure food security and food safety.

Design/methodology/approach

The authors have conducted a systematic, configurative literature review on food waste measurement methodologies applied only within empirical studies published in academic peer-reviewed scientific journals. Based on the Commission Delegated Decision (EU) 2019/1597 of May 3, 2019 (OJEU, 2019) regarding common methodologies and minimum quality requirements for the homogeneous assessment of food waste quantities and composition, the authors investigated the issue on Web of Science Core Collection (WoS) from June 2000 to June 2020. The authors researched keywords within article titles, abstracts and author keywords by utilizing 34 different research strings.

Findings

The proposed review particularly refers to following topics: measurement methodologies applied according to the Commission Delegated Decision (EU) 2019/1597; editorial placement and publication timeline; geographical area; food supply-chain stage and publication journals; and the main features, limitations, opportunities and results for each measurement methodology as presented by authors. Among the first 48,000 results, only 58 academic articles are perfectly in line with the aim of the review, highlighting the lack of standardized methodologies, the limits of those proposed and the deficiency of comparable results to achieve sustainable international goals.

Originality/value

The proposed review is one of the few concerning food waste measurement methodologies. Food waste measurement is essential to rebalance the actual inadequate food system and to switch it toward a fair, healthy and environmentally friendly one, thereby (1) managing the human nutrition system paradox of hungry, undernourished and over-weight people; (2) reducing food insecurity; (3) ensuring each living being's access to healthy, nutritious and sustainable food; and (4) reducing environmental impacts (neutral or positive impact) and the loss of biodiversity and mitigating climate change.

Details

British Food Journal, vol. 123 no. 8
Type: Research Article
ISSN: 0007-070X

Keywords

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