Search results

Though most construction workers in China possess minimal skillset, they are reluctant to attend vocational skill training sponsored by the government or enterprises. This paper aims to examine their willingness to attend the training from workers’ individual perspectives.

The authors interviewed 492 construction workers on topics concerning their age, education, work tenure, technological level, daily wages, apprenticeship duration, apprentice channels and training experience; this information was then logistically analyzed to reveal if it influences construction workers’ willingness to attend training courses.

The results show that in a variety of possible influencing factors, technological level, apprenticeship duration and education are the most significant ones that affect construction workers’ willingness to attend vocational training. Technological level makes the greatest contribution to workers’ willingness to attend training, yet the effect of training experience and daily wages is minimal.

To achieve sustainability in construction labor management, it is important to shed light on what influences worker’s willingness to attend training programs and take some efficient steps to address these issues.

This paper provides a new insight into the workers’ willingness to attend vocational skill training programs in the Chinse construction industry and suggests some practical implications for professionals and policymakers. Furthermore, the findings could prove valuable to other countries or industries, especially those sharing similarities to the Chinese construction industry.

Urban parks play a key role in recreational activities, public health, and ecosystem services in urban areas. Using GIS and Fragstats, this study investigated the spatiotemporal dynamics of urban parks in Xi'an, China from 1949 to 2015 and the corresponding driving forces. The results show that the number and area of parks in Xi'an increased constantly during this period, especially from 2000 to 2015. Up to 2015, small green spaces, usually adjacent to streets, occupied the largest proportion among all types of parks. Archaeological parks were the largest in total area, but wetland parks were leading in average size of a single park. The density of parks was negatively correlated with their distance to the Clock Tower at the center of Xi'an. The dynamics of urban parks in highly urbanized areas were significantly different from that of their counterparts in suburban areas. Driving forces such as urban planning, urbanization and green space policies, and milestone events in the city's development jointly had a great effect on the distribution of parks in Xi'an. The research outcomes will support the upcoming Green Space Planning of Xi'an and benefit the pursuit of sustainability and human wellbeing.

Continuum robots offer unique advantages in various specialized environments, particularly in confined or hard-to-reach spaces. Inverse kinematics and real-time shape estimation constitute crucial aspects of closed-loop control for continuum robots, presenting challenging problems. This paper aims to present an inverse kinematics and shape reconstruction method, which relies solely on the knowledge of base and end positions and orientations.

Based on the constant curvature assumption, continuum robots are regarded as spatial curves composed of circular arcs. Using geometric relationships, the mathematical relationships between the arc chords, points on the bisecting plane and the coordinate axes are established. On this basis, the analytical solution of the inverse kinematics of the continuum robots is derived. Using the positions and orientations of the base and end of the continuum robots, the Levenberg–Marquardt algorithm is used to solve the positions of the cubic Bezier curves, and a new method of spatial shape reconstruction of continuum robots is proposed.

The inverse kinematics and spatial shape reconstruction simulation of the continuum robot are carried out, and the spatial shape measurement experimental platform for the continuum robot is constructed to compare the measured and reconstructed spatial shapes. The results show that the maximum relative error between the actual shape and the reconstructed shape of the continuum robot is 2.08%, which verifies the inverse kinematics and shape reconstruction model. Additionally, when the bending angle of a single bending section of the continuum robot is less than 135°, the shape reconstruction accuracy is higher.

The proposed inverse kinematics solution method avoids iterative solving, and the shape reconstruction model does not rely on mechanical models. It has the advantages of being simple to solve, highly accurate and fast in computation, making it suitable for real-time control of continuum robots.

This study aims to investigate the effect of different microstructures and its grain boundary character distribution (GBCD) on the corrosion behavior of weathering bridge steel.

The rust layer characteristics and corrosion resistance of specimens with different microstructures in the simulated industrial environment were studied by Electron Probe X-ray Micro-Analyzer, wavelength-dispersive spectrometer and electrochemical techniques. Electron backscatter diffraction technique was used to characterize the GBCD in steels with different microstructures.

Results revealed a significant difference in the corrosion susceptibility among the four microstructures, with corrosion rates decreasing in the following order: ferrite + pearlite > ferrite + bainite > bainite > martensite. The variation in corrosion resistance is primarily influenced by the microstructure type and the proportion of special grain boundaries, rather than the alloying elements. The proportion of Σ3 boundaries within the coincidence site lattice boundaries is positively correlated with improved corrosion resistance. A higher Σ3 boundary fraction resulted in a lower effective grain boundary energy, elevated self-corrosion potential, increased polarization resistance and reduced areas of localized galvanic corrosion; this led to enhanced inhibition of the electrochemical corrosion reaction, consequently reducing the corrosion rate.

This study elucidates and quantifies the intrinsic relationship between microstructure, GBCD and corrosion rate. This understanding is crucial for enhancing the corrosion resistance of weathering bridge steels in industrial atmospheric corrosion environments.

The electromechanical planetary transmission system has the advantages of high transmission power and fast running speed, which is one of the important development directions in the future. However, during the operation of the electromechanical planetary transmission system, friction and other factors will lead to an increase in gear temperature and thermal deformation, which will affect the transmission performance of the system, and it is of great significance to study the influence of the temperature effect on the nonlinear dynamics of the electromechanical planetary system.

The effects of temperature change, motor speed, time-varying meshing stiffness, meshing damping ratio and error amplitude on the nonlinear dynamic characteristics of electromechanical planetary systems are studied by using bifurcation diagrams, time-domain diagrams, phase diagrams, Poincaré cross-sectional diagrams, spectra, etc.

The results show that when the temperature rise is less than 70 °C, the system will exhibit chaotic motion. When the motor speed is greater than 900r/min, the system enters a chaotic state. The changes in time-varying meshing stiffness, meshing damping ratio, and error amplitude will also make the system exhibit abundant bifurcation characteristics.

Based on the principle of thermal deformation, taking into account the temperature effect and nonlinear parameters, including time-varying meshing stiffness and tooth side clearance as well as comprehensive errors, a dynamic model of the electromechanical planetary gear system was established.

In view of the unknown environmental parameters and uncertain interference during gripping by the manipulator, it is difficult to obtain an effective gripping force with the traditional impedance control method. To avoid this dilemma, the purpose of this study is to propose an adaptive control strategy based on an adaptive neural network and a PID search optimization algorithm for unknown environments.

The method is based on a variable impedance model, and a new impedance model is established using a radial basis function (RBF) neural network to estimate unknown parameters of the impedance model. The approximation errors of the adaptive neural network and the uncertain disturbance are effectively suppressed by designing the adaptive rate. In the meantime, auxiliary variables are constructed for Lyapunov stability analysis and adaptive controller design, and PSA is used to ensure the stability of the adaptive impedance control system. Based on the Lyapunov stability criterion, the adaptive im-pedance control system is proved to have progressive tracking convergence property.

Through comparative simulations and experiments, the superiority of the proposed adaptive control strategy in position and force tracking has been verified. For objects with low flexibility and light-weight (such as a coke, a banana and a nectarine), this control method demonstrates errors of less than 10%.

This paper uses RBF neural networks to estimate unknown parameters of the impedance model in real-time, enhancing system adaptability. Neural network weights are updated online to suppress errors and disturbances. Auxiliary variables are designed for Lyapunov stability analysis. The PSA algorithm is used to adjust controller parameters in real-time. Additionally, comparative simulations and experi-ments are designed to analyze and validate the performance of controller.

The effects of carbon fiber reinforced polymer (CFRP) reinforcement form, adhesive type and pre-crack width on failure mode, shear capacity, deflection response, CFRP strain response and crack patterns of strengthened specimens were investigated.

This paper presents a geopolymer adhesive that matches the performance requirements of CFRP adhesive, which is applied to pre-cracked beams reinforced with CFRP strips.

For specimens with varying structural properties, two failure modes, the CFRP-concrete interface substrate failure and the fracture failure of CFRP, are observed. Moreover, the shear capacity, ultimate deflection and bending stiffness of the U-shaped CFRP-strengthened beams are enhanced in comparison to the complete-wrapping CFRP-strengthened beams. With an increase in pre-crack width, the increase in shear capacity of RC beams shear-strengthened with CFRP strips is less than that of non-cracked beams, resulting in a limited influence on the stiffness of CFRP-strengthened beams. The comparison of experimental results showed that the proposed finite element model (FEM) effectively evaluated the mechanical characteristics of CFRP-strengthened RC beams.

Taking into consideration the reinforcement effect and the concept of environmental protection, the geopolymer adhesive reinforcement scheme is preferable to applying epoxy resin to the CFRP-strengthened RC beams.

This study aims to the complex and unpredictable terrain environment of the Qinghai-Tibet Plateau scientific research station, such as cement road, wetland, gravel desert, snowfield, ice surface, grassland, slimy ground, steep slope, step, etc., a reconfigurable walking mechanism based on two movement modes of wheel and triangular crawler was proposed.

By analyzing the deformation mechanism of the walking mechanism, a reconfigurable wheel-crawler-integrated walking mechanism and the configuration scheme are designed. The analysis of the kinematics and mechanical properties of the swing arm system and the deformation mechanism of the walking mechanism.

The reconfigurable wheel-crawler-integrated walking mechanism can be switched between the wheel and triangular crawler modes by driving the deformation mechanism. Through the numerical simulation of its movement process, and the trial production and experiment of the prototype, indicates the validity of the reconfigurable wheel-crawler-integrated walking mechanism design.

The work of this paper provides a reconfigurable wheel-crawler-integrated-walking mechanism, which can be used by robots in the Qinghai-Tibet Plateau scientific research station. It has excellent reconfigurability and can effectively improve the robot’s adaptability to complex terrain.

The effects of failure mode and strain conditions of CFRP, concrete and stirrups on the shear capacity of reinforced beams bonded by geopolymer and epoxy are studied. In addition, a prediction model of the ultimate bearing capacity of CFRP-shear-strengthened beams is proposed, which considers adhesive performance parameters adhesive performance parameter ßE and FRP width parameter ßw.

This paper presents an experimental study on ultimate bearing capacity of CFRP-shear-strengthened pre-cracked beams with geopolymer and epoxy resin, which considers parameters such as impregnated adhesives types and CFRP-strengthened scheme.

The failure modes of CFRP-strengthened beams bonded by geopolymer are the combination of the CFRP-concrete interface substrate failure and fracture failure of CFRP, and that of epoxy is the local substrate failures with small area. The ultimate load of CFRP-strengthened beams is directly affected by the failure modes. The ultimate bearing capacity of CFRP-strengthened beams with geopolymer is 91.4% of that of epoxy resin. Compared with ultimate bearing capacity of CFRP-strengthened beams with U-shaped, that of complete-wrapping increases by 2.5%. Moreover, the stirrup peak strain is reduced by more than 30% in CFRP-strengthened beams bonded with geopolymer and epoxy resin in comparison with the unstrengthened beam. The existing prediction model cannot accurately predict the CFRP shear capacity contribution of strengthened beams with different CFRP-strengthened schemes and adhesive properties. The estimated results are much lower than the test data, and the deviation is much larger than 20%.

Geopolymer alternative to epoxy as an adhesive is feasible and effective for CFRP reinforcement. Furthermore, the accuracy is improved by introducing parameters about adhesive properties based on the existing prediction model. The estimated results are in excellent agreement with the test data, and the deviation is controlled within −12.80%, and the model is suitable for predicting the shear capacity of FRP-strengthened beams with ßf = 90° in shear capacity database.

The purpose of this paper is to design a climbing robot connected by a connecting rod mechanism to achieve multi-functional tasks such as obstacles crossing and climbing of power transmission towers.

A connecting rod type gripper has been designed to achieve stable grasping of angle steel. Before grasping, use coordination between structures to achieve stable docking and grasping. By using the alternating movements of two claws and the middle climbing mechanism, the climbing and obstacle crossing of the angle steel were achieved.

Through a simple linkage mechanism, a climbing robot has been designed, greatly reducing the overall mass of the robot. It can also carry a load of 1 kg, and the climbing mechanism can perform stable climbing. The maximum step distance of the climbing robot is 543 mm, which can achieve the crossing of angle steel obstacles.

A transmission tower climbing mechanism was proposed by analyzing the working environment. Through the locking ability of the screw nut, stable clamping of the angle steel is achieved, and a pitch mechanism is designed to adjust the posture of the hand claw.