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This study aims to predict the unstable period-1 orbit (UPO-1) of DC–DC converters and find analytical expressions to describe it.

Nonlinear dynamical phenomena of a peak–current–mode controlled direct current–direct current (DC–DC) Boost converter are discussed briefly first. Then fast fourier transform (FFT) analysis of state variables under different dynamic states is provided, and the characteristic of the harmonic content in different states is summarized. Following these, a scientific hypothesis on the harmonic content of the UPO-1 is presented, and the Equivalent Small Parameter method is adopted then, thus analytic-form expressions of the UPO-1 can be derived.

According to results of theoretical analysis, numerical simulations and experiments, this paper illustrates that, like stable period-1 orbit, the UPO-1 is also made up of the DC component and harmonics with integer times of switching frequency.

This work provides an unreported approach for extracting the UPO-1 of DC–DC converters, which is mainly based on predicting the harmonic structure information of the orbit. According to experimental parts of the work, it shows that the stabilizer can be designed easier by using the proposed method. Additionally, from a broader perspective, the results could also have implications in a wide class of forced oscillation systems.

This paper aims to present a simplified method to analyze the transient characteristics of a fractional-order very high frequency (VHF) resonant boost converter. The transient analytical solutions of state variables obtained by this method could be used as a guide for parameter design and circuit optimization.

The VHF converter is decoupled into a simplified equivalent circuit model and described by the differential equation. The solution of the simplified equivalent circuit model is taken as the main oscillation component of the transient state variable. And the equivalent small parameter method (ESPM) and Kalman filter technology are used to solve the differential equation of the converter to obtain the steady-state ripple component. Then, by superimposing the abovementioned two parts, the approximate transient analytical solution can be acquired. Finally, the influence of the fractional order of the energy storage elements on the transient process of the converter is discussed.

The results from the proposed method agree well with those from simulations, which indicates that the proposed method can effectively analyze the transient characteristic of the fractional-order VHF converter, and the analytical solution derived from the proposed mathematical model shows sufficient accuracy.

This paper proposes for the first time a method to analyze the transient characteristics of a fractional-order VHF resonant boost converter. By combining the main oscillated solution derived from the simplified equivalent circuit model with the steady-state solution based on ESPM, this method can greatly reduce the computation amount to estimate the transient solution. In addition, the discussion on the order of fractional calculus of energy storage components can provide an auxiliary guidance for the selection of circuit parameters and the study of stability.

The purpose of this paper is to find a simpler model for the reactance components in the high-frequency range on the premise of ensuring the accuracy.

In this paper, based on the fractional calculus theory and the traditional integer-order model, a reactance model suitable for high frequency is constructed, and the mutation cross differential evolution algorithm is used to identify the parameters in the model.

By comparing the integer-order model, high-frequency fractional-order model and the actual impedance characteristic curve of inductance and capacitance, it is verified that the proposed model can more accurately reflect the high-frequency characteristics of inductance and capacitance. The simulation and experimental results show that the oscillator constructed based on the proposed model can analyze the frequency and output waveform of the oscillator more accurately.

The model proposed in this paper has a simple structure and contains only two parameters to be identified. At the same time, the model has high precision. The fitting errors of impedance curve and phase-frequency characteristic curve are less than 5%. Therefore, the proposed model is helpful to improve the simplicity and accuracy of circuit system analysis and design.

Harmonic drives are used widely in aviation, robotics and instrumentation due to their benefits including high transmission ratio, compact structure and zero backlash. One of the common faults of a harmonic drive is the axial movement of the input shaft. In such a case, its input shaft moves in the axial direction relative to the body of the harmonic drive. The purpose of this study is to propose two fault diagnosis methods based on the current signal of the driving servomotor for the axial movement failure in terms of input shafts of harmonic drives.

In the two proposed fault diagnosis methods, the wavelet threshold algorithm is firstly used for filtering noises of the motor current signal. Then, the feature of the denoised current signal is extracted by the empirical mode decomposition (EMD) method and the wavelet packet energy-entropy (WPEE) theory, respectively, obtaining two kinds of feature sets. After a deep learning model based on the deep belief network (DBN) is constructed and trained by using these feature sets, we finally identify the normal harmonic drives and the ones with the axial movement fault.

In contrast to the traditional back propagation (BP) neural network model and support vector machine (SVM) model, the fault diagnosis methods based on the combination of the EMD (as well as the WPEE) and the DBN model can obtain higher accuracy rates of fault diagnosis for axial movement of harmonic drives, which can be greater than or equal to 97% based on the data of the performed experiment.

The authors propose two fault diagnosis methods based on the current signal of the driving servomotor for the axial movement failure in terms of input shafts of harmonic drives, which are verified by the experiment. The presented study may be beneficial for the development of self-diagnosis and self-repair systems of different robots and precision machines using harmonic drives.

This study aims to develop a new method to treat the numerical singularity at the critical nodes of two skew coordinates, and optimize the leakage of micro herringbone grooved journal bearings (MHGJBs) with this method.

A side leakage numerical algorithm is proposed by using the skew meshes with a virtual node (SMVN) method to evaluate the effects of groove angle, bank/groove ratio, groove depth and groove number on load capacity, friction and side leakage of MHGJB.

The SMVN method is effective in treating the numerical singularity at the critical nodes of two skew coordinates. Besides, a group of optimized parameters of micro herringbone groove is obtained which can not only minimize the side leakage but also improve the load capacity and friction force.

A virtual node method was proposed, which can significantly improve the calculation accuracy in the side leakage model.

In traditional calibration methods of kinematics parameters of industrial robots, dozens of model parameters are identified together based on an optimization procedure. Due to different contributions of model parameter errors to the tool center point positioning error of industrial robots, obtaining good results for all model parameters is very difficult. Therefore, the purpose of this paper is to propose a sequential calibration method specifically for transmission ratio parameters, which includes reduction ratios and coupling ratios of industrial robot joints.

The ABB IRB 1410 industrial robot is considered as an example in this study. The transmission ratios for each joint of the robot are identified using the spatial circle fitting method based on spatial vectors, which fit the center and radius of joint rotation with the least squares optimization algorithm. In addition, a method based on the Rodrigues’ formula is designed and presented for identifying the actual coupling ratio of the robot. Subsequently, an experiment is carried out to verify the proposed sequential calibration method of transmission ratios.

In this experiment, the actual positions of the linkages before and after joint rotations are measured by a laser tracker. Accurate results of the reduction ratios and the coupling ratios are calculated, and the results are verified experimentally. The results show that by calibrating the reduction ratios and coupling ratios of the ABB robot, the rotation angle errors of the robot joints can be reduced.

The authors propose a sequential calibration method for transmission ratio parameters, including reduction ratios and coupling ratios of industrial robot joints. An experiment is carried out to verify this proposed sequential calibration method. This study may be beneficial for calibrating the kinematic parameters of industrial robots and improving their positioning accuracy.

This paper aims to identify the role of the wall slip on the dynamic characteristics of the multi-groove water-lubricated bearing considering rough contact, including stiffness and damping coefficients of the water film and contact stiffness coefficient of the asperity contact.

The modified perturbed average Reynolds equations with the wall slip are derived, and the calculated perturbed hydrodynamic pressures are integrated to obtain the stiffness and damping coefficients of the water film. The elastic-plastic contact model of Kogut and Etsion is used to determine the contact stiffness coefficient.

Numerical results reveal that the wall slip has the more significant impact on the water film stiffness coefficients compared with the damping and contact stiffness coefficients. When the slip angle lies in a reasonable range, the lubrication performance can be effectively improved, especially in the mixed lubrication condition. In addition, it is worth emphasizing that the abrupt change of the water film stiffness coefficients occurs at the region II (pressure zone) in this study.

The influence mechanism of the wall slip on the dynamic characteristics of the water-lubricated bearing considering rough contact is first revealed.

This paper aims to present a numerical model to investigate the mixed lubrication performances of journal-thrust coupled bearings (or coupled bearings).

The coupled hydrodynamic effect (or coupled effect) between the journal and the thrust bearing is considered by ensuring the continuity of the hydrodynamic pressure and the flow field at the common boundary. The mixed lubrication performances of the coupled bearing are comparatively studied for the cases of considering and not considering coupled effect.

The simulated results show that the hydrodynamic pressure distributions for both the journal and thrust bearing are modified due to the coupled effect. The decreased load capacity of the journal bearing and the increased load capacity of the thrust bearing can be observed when the coupled effect is considered. And the coupled effect can facilitate in reducing the asperity contact load for both the journal and thrust bearing. Additionally, the interaction between the mixed lubrication behaviors, especially for the friction coefficient, of the journal and the thrust bearing is significant in the elastohydrodynamic lubrication regime, while it becomes weak in the mixed lubrication regime.

The developed model can reveal the mutual effects of the mixed lubrication behavior between the journal and the thrust bearing.

The purpose of this paper is to propose a subcontractor selection model to fully consider the impact of construction enterprise demands on subcontractor selection. The objectives are to understand the translating process of specific enterprise demands to the evaluating criteria and the weight calculation process.

A three-stage model of subcontractor selection was designed based on quality function deployment (QFD), analytic hierarchy process (AHP) and improved grey correlation analysis (IGCA). In the proposed model, specific enterprise demands are translated by the QFD method, and the weights of the criteria are determined by the IGCA. The AHP is used to quantify the exporters' experience and construct the judgment matrix, which is used as inputting of the grey correlation analysis.

The proposed model provides a feasible process for subcontractor selection by fully considering the actual requirements of the project. By combining the company requirements and project requirement to put forward the requirements of the target subcontractor, the selection process ensures that the selected subcontractor and the project have a higher “fit”

Few researches on construction subcontractor selection have taken into account the “voice” of the company's stakeholders. Therefore, this paper designs a three-stage construction subcontractor selection model by introducing QFD to achieve the transmission of “voice” in the subcontractor selection process, so as to take full consideration of the project objectives and the needs of the company's stakeholders. Meanwhile, in order to decrease the subjective of weight calculation, this paper designs an AHP-IGCA allocation method to determine the weight of relevant indicators. By integrating the proposed weight calculation method and QFD method, the subcontractor selection results become more reasonable and objective.

The tribological behavior, i.e. friction coefficient and wear rate, and vibration characteristics of the water-lubricated bearing was investigated. The water-lubricated bearing is made of three different materials, i.e. polyether-ether-ketone (PEEK), polyimide (PI) and nitrile-butadiene rubber (NBR).

The tribological behavior was investigated experimentally on a specially designed test rig. Three vibration sensors were used to record the vibration of the bearing.

The results indicated that the variation of friction coefficient with rotation speed agrees well with the trend of Stribeck curve. The tested friction coefficient of rubber bearing is higher than that of the other two bearings whether it is in the state of mixed-lubrication or hydrodynamic lubrication, and which causing a larger wear rate in rubber bearing. The PEEK bearing exhibits the best tribological properties due to it has smaller friction coefficient and wear rate. However, it can be found that the rubber bearing gives the minimum vibration acceleration, which means that the rubber bearing has the most potential to improve the stability of water-lubricated bearing rotor system.

In this study, a group of experiment studies conducted on a specially designed test rig. The comprehensive performance, including friction coefficient, vibration acceleration and wear rate, of water-lubricated bearing with three different materials, i.e. PEEK, PI and NBR, was compared systematically. The experiment research may offer a reference for the selection of material in water-lubricated bearing in specific operating conditions.

The peer review history for this article is available at: https://publons.com/publon/10.1108/ILT-10-2019-0447/