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In typical model-based calibration, linearization errors are derived inevitably, and non-negligible negative impact will be induced on the identification results if the rotational kinematic errors are not small enough or the lengths of links are too long, which is common in the industrial cases. Thus, an accurate two-step kinematic calibration method minimizing the linearization errors is presented for a six-DoF serial robot to improve the calibration accuracy.

The negative impact of linearization on identification accuracy is minimized by removing the responsible linearized kinematic errors from the complete kinematic error model. Accordingly, the identification results of the dimension-reduced new model are accurate but not complete, so the complete kinematic error model, which achieves high identification accuracy of the rest of the error parameters, is combined with this new model to create a two-step calibration procedure capable of highly accurate identification of all the kinematic errors.

The proportions of linearization errors in measured pose errors are quantified and found to be non-negligible with the increase of rotational kinematic errors. Thus, negative impacts of linearization errors are analyzed quantitatively in different cases, providing the basis for allowed kinematic errors in the new model. Much more accurate results were obtained by using the new two-step calibration method, according to a comparison with the typical methods.

This new method achieves high accuracy with no compromise on completeness, is easy to operate and is consistent with the typical method because the second step with the new model is conveniently combined without changing the sensors or measurement instrument setup.

Prior studies on the impact of incentives on physicians’ online participation mainly focused on different incentives while ignoring the difficulty of setting monetary incentives efficiently. Based on goal-setting theory, the current research examines the relationship between incentives with goals of varying difficulty and professional health knowledge sharing (PHKS) in online health knowledge-sharing platforms (OHKSPs).

Four field experiments with different monetary incentives were conducted by one of China’s largest OHKSPs, with whom the researchers cooperated in data collection. Monthly panel data on 10,584 physicians were collected from September 2018 to December 2019. There were 9,376 physicians in the treatment group and 1,208 in the control group. The authors used a difference-in-difference (DID) model to explore the research question based on the same control group and the Chow test with seemingly unrelated estimation (sureg) to compare regression coefficients between four groups. Several robustness checks were performed to validate the main results, including a relative time model, multiple falsification tests and a DID estimation using the propensity score matching method.

The results show that the monetary incentive significantly positively affected the volume of physicians’ PHKS directly with negative spillover to the duration of physicians’ PHKS. Moreover, the positive effect of incentives with higher difficulty on the volume of physicians’ PHKS was significantly smaller than that of incentives with low difficulty. Finally, professional title had a positive moderating effect on the volume of goal difficulty setting and did not significantly moderate the effect on the duration of physicians’ PHKS.

Some limitations of this study are: firstly, because the field experiments were enterprise benefit oriented, the treatment and control groups were not balanced. Secondly, the experiments for different incentive measures were relatively similar, making it challenging to validate a causal effect. Finally, more consideration should be given to the strategy for setting hierarchical incentives in future research.

The research indicates that monetary incentives have a bilateral effect on PHKS, i.e. a positive direct effect on the volume of physicians’ contributions and a negative spillover effect on the duration of physicians’ PHKS. The professional titles of physicians also moderate such bilateral switches of PHKS. Furthermore, when a physician’s energy is limited, the goal difficulty setting of the incentive mechanism tends to be low. The more difficult the incentives are, the more inefficient the effects on physicians’ PHKS will be.

In light of the shift in focus from information communication technology (ICT) access (access divide) and skills (skills divide) to the tangible impacts of ICT use (impact divide), a growing number of scholars have called for further investigation into the inter-territorial and multi-dimensional aspects of the digital divide in China. This study aims to address these gaps by examining the disparities across 31 provinces, particularly emphasizing the transition from the traditional access and skills divides to the impact divide.

Multivariate regression analysis extensively investigates the transition from the access and skills divides to the impact divide across 31 provinces. Additionally, ArcGIS software is used to analyze spatial agglomeration and the auto-correlation (Moran-i) and predict mapping patterns in the data corresponding to all three levels of the digital divide.

According to the study's findings, poverty is a significant factor in the digital divide between different regions in China. The research shows that provinces with advanced administrative systems, such as Guangdong, Shanghai, Beijing, Jiangsu, Shandon and Zhejiang, have high scores on the digital development index (DDI). However, regions with poverty-ridden and rural areas, primarily located in southwest, central and western China, tend to have lower DDI scores.

This study offers a novel contribution to the literature by presenting an innovative conceptual framework that explores the impact divide within China's provinces. The authors also address this lacuna in the literature by developing and testing two dimensions to examine the relationships statistically under a wide range of socioeconomic and ICT indicators.

Engineering components/structures with geometric discontinuities normally bear complex and variable loads, which lead to a multiaxial and random/variable amplitude stress/strain state. Hence, this study aims how to effectively evaluate the multiaxial random/variable amplitude fatigue life.

Recent studies on critical plane method under multiaxial random/variable amplitude loading are reviewed, and the computational framework is clearly presented in this paper.

Some basic concepts and latest achievements in multiaxial random/variable amplitude fatigue analysis are introduced. This review summarizes the research status of four main aspects of multiaxial fatigue under random/variable amplitude loadings, namely multiaxial fatigue criterion, method for critical plane determination, cycle counting method and damage accumulation criterion. Particularly, the latest achievements of multiaxial random/variable amplitude fatigue using critical plane methods are classified and highlighted.

This review attempts to provide references for further research on multiaxial random/variable amplitude fatigue and to promote the development of multiaxial fatigue from experimental research to practical engineering application.

The purpose of this paper is to introduce a development and error modeling of a serial redundant manipulator system applied in nuclear fusion environment. Detailed mechanical design of vacuum-compatible arms and actuators are presented, and manipulator flexibility is studied through experiments and model identification algorithm to evaluate the deformation.

First, the manipulator is designed to be several modular segments to obtain enough and flexible workspace inside the fusion device with narrow and complex geometries. Joint actuators with “rotation-linear-rotation” chains are developed to provide both huge reduction ratios and vacuum sealing. The redundant manipulator system has 11 degree of freedoms in total with a storage cask system to dock with the device vacuum vessel. In addition, to improve the position accuracy, an error prediction model is built based on the experimental study and back-propagation neural network (BPNN) algorithm.

Currently, the implementation of the manipulator system has been successfully carried out in both atmosphere and vacuum condition. Excellent performance indicates that the mechanical design is suitable. The validation of BPNN model shows an acceptable prediction accuracy (94∼98 per cent) compared with the real measurement.

This is a special robot system which is practically used in a nuclear fusion device in China. It will allow remote inspection and maintenance of plasma facing components in the vacuum vessel of fusion device without breaking the ultra-high vacuum condition during physical experiments. Its design, mechanism and error prediction strategy have great reference values to the similar robots in vacuum and temperature applications.

Remote handling (RH) manipulators have been widely studied for maintenance tasks in fusion reactors. Those tasks always require heavy load, high accuracy and large work space for manipulators. Traditionally, the maintenance of fusion devices always depends on manual RH. With the development of calculating ability, the intelligent automatic maintenance makes it possible for a fusion device instead of the previous manual operation. As the flexibility of arm and the deformation of manipulator will cause problems, which are mainly inaccuracy and lower efficiency. This paper aims to study an effective way to promote the arm behavior to solve these problems.

By making use of the experimental advanced superconducting tokamak articulated maintenance arm as a platform, a series of experiments is designed to measure errors of kinematics and to collect the database of the flexible arm. Through studying the data and the arm structure, recurrent neural network (RNN) method was adopted to estimate the deformation of flexible arm and eventually compensate deformation in robot control to achieve higher accuracy.

By means of delicate RNN modeling, errors of kinematics have been reduced to a smaller order than the RH mode. This intelligent maintenance method will also reduce complexity of operations in maintenance.

This paper presents the use of an artificial intelligent algorithm to solve a nonlinear deformation problem of the flexible arm. The results demonstrate that it is efficient in dealing with this problem in fusion application. The RNN’s successful application has also shown that intelligent algorithms can be widely applied in fusion maintenance.

We experimentally investigate how the level of government (either federal or state) and whether funding is being allocated to enforcement or service efforts in a revenue agency affects trust in the agency, as well as support for the funding initiative. We find that the two independent variables interact, such that trust in the state agency is not affected by whether the proposed funding would be allocated to service or enforcement efforts. But, at the federal level (the Internal Revenue Service), trust in the agency is significantly higher when the proposed funding is to hire additional service employees as opposed to hiring additional enforcement employees. We also find that the level of government moderates the mediating effect of trust in the agency on the relation between the use of funds and support for the funding.

We compare the finite sample power of short- and long-horizon tests in nonlinear predictive regression models of regime switching between bull and bear markets, allowing for time varying transition probabilities. As a point of reference, we also provide a similar comparison in a linear predictive regression model without regime switching. Overall, our results do not support the contention of higher power in longer horizon tests in either the linear or nonlinear regime switching models. Nonetheless, it is possible that other plausible nonlinear models provide stronger justification for long-horizon tests.

This paper aims to present a detailed mechanical design of a seven-degrees-of-freedom mobile parallel robot for the tungsten inert gas (TIG) welding and machining processes in fusion reactor. Detailed mechanical design of the robot is presented and both the kinematic and dynamic behaviors are studied.

First, the model of the mobile parallel robot was created in computer-aided design (CAD) software, then the simulation and optimization of the robot were completed to meet the design requirements. Then the robot was manufactured and assembled. Finally, the machining and tungsten inert gas (TIG) welding tests were performed for validation.

Currently, the implementation of the robot system has been successfully carried out in the laboratory. The excellent performance has indicated that the robot’s mechanical and software designs are suitable for the given tasks. The quality and accuracy of welding and machining has reached the requirements.

This mobile parallel industrial robot is particularly used in fusion reactor. Furthermore, the structure of the mobile parallel robot can be optimized for different applications.

Ports create harmful effects on their adjacent population because ships discharge noxious gases like SO_X, NO_X, and particulate matter (PM). To tackle this problem, some ports started to control emission through regulations such as Emission Control Areas (ECA) and Reduced Speed Zone (RSZ). This paper estimates the social cost of ship emission and eco-efficiency at the Port of Incheon (POI). We further examine how the ECA and RSZ designation can reduce the social cost. The estimation is based on the activity-based approach, where ship type, engine, and movement are used to measure fuel consumption and then emission. Results suggest that the social cost of ship emission at the POI amounts to $90,805,478. The eco-efficiency of the POI, compared to the one at the Port of Las Palmas in another study, is substantially better. Under RSZ, the corresponding emission abatement values are $4,485,308, $2,642,009 and $21,932,435 from SO₂, NO_X and PM reduction, respectively. If 1.0% and 0.1% sulfur fuel are used complying with rules of the ECA, the social cost savings amount to $8,174,947 and $12,868,842 from SO₂ reduction.