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Article
Publication date: 18 May 2020

Haojie Zhang, Yudong Zhang and Tiantian Yang

As wheeled mobile robots find increasing use in outdoor applications, it becomes more important to reduce energy consumption to perform more missions efficiently with limit energy…

842

Abstract

Purpose

As wheeled mobile robots find increasing use in outdoor applications, it becomes more important to reduce energy consumption to perform more missions efficiently with limit energy supply. The purpose of this paper is to survey the current state-of-the-art on energy-efficient motion planning (EEMP) for wheeled mobile robots.

Design/methodology/approach

The use of wheeled mobile robots has been increased to replace humans in performing risky missions in outdoor applications, and the requirement of motion planning with efficient energy consumption is necessary. This study analyses a lot of motion planning technologies in terms of energy efficiency for wheeled mobile robots from 2000 to present. The dynamic constraints play a key role in EEMP problem, which derive the power model related to energy consumption. The surveyed approaches differ in the used steering mechanisms for wheeled mobile robots, in assumptions on the structure of the environment and in computational requirements. The comparison among different EEMP methods is proposed in optimal, computation time and completeness.

Findings

According to lots of literature in EEMP problem, the research results can be roughly divided into online real-time optimization and offline optimization. The energy consumption is considered during online real-time optimization, which is computationally expensive and time-consuming. The energy consumption model is used to evaluate the candidate motions offline and to obtain the optimal energy consumption motion. Sometimes, this optimization method may cause local minimal problem and even fail to track. Therefore, integrating the energy consumption model into the online motion planning will be the research trend of EEMP problem, and more comprehensive approach to EEMP problem is presented.

Research limitations/implications

EEMP is closely related to robot’s dynamic constraints. This paper mainly surveyed in EEMP problem for differential steered, Ackermann-steered, skid-steered and omni-directional steered robots. Other steering mechanisms of wheeled mobile robots are not discussed in this study.

Practical implications

The survey of performance of various EEMP serves as a reference for robots with different steering mechanisms using in special scenarios.

Originality/value

This paper analyses a lot of motion planning technologies in terms of energy efficiency for wheeled mobile robots from 2000 to present.

Details

Industrial Robot: the international journal of robotics research and application, vol. 47 no. 4
Type: Research Article
ISSN: 0143-991X

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Article
Publication date: 29 June 2022

Huilong Zhang, Yudong Zhang, Atiqe Ur Rahman and Muhammad Saeed

In this article, the elementary notions and aggregation operations of single-valued neutrosophic parameterized complex fuzzy hypersoft set (sv-NPCFHSS) are characterized…

201

Abstract

Purpose

In this article, the elementary notions and aggregation operations of single-valued neutrosophic parameterized complex fuzzy hypersoft set (sv-NPCFHSS) are characterized initially. Then by using matrix version of sv-NPCFHSS, a decision-support system is constructed for the evaluation of real estate residential projects by observing various risk factors.

Design/methodology/approach

Two approaches are utilized in this research: set-theoretic approach and algorithmic approach. The first approach is used to investigate the notions of sv-NPCFHSS and its some aggregations whereas the second approach is used to propose an algorithm for designing its decision-support system by using the aggregation operations like reduced fuzzy matrix, decision matrix, etc. of sv-NPCFHSS. The adopted algorithm is validated in real estate scenario for the selection of residential project by observing various risk factors to avoid any expected investment loss.

Findings

The proposed approach is more flexible and reliable as it copes with the shortcomings of literature on sv-neutrosophic set, sv-neutrosophic soft set and other fuzzy soft set-like structures by considering hypersoft setting, complex setting and neutrosophic setting collectively.

Research limitations/implications

It has limitations for complex intuitionistic fuzzy hypersoft set, complex neutrosophic hypersoft set and other complex neutrosophic hypersoft set-like models.

Practical implications

The scope of this research may cover a wide range of applications in several fields of mathematical sciences like artificial intelligence, optimization, MCDM, theoretical computer science, soft computing, mathematical statistics etc.

Originality/value

The proposed model bears the characteristics of most of the relevant existing fuzzy soft set-like models collectively and fulfills their limitations.

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Article
Publication date: 19 August 2022

Peipei Jia, Dongjin Li, Huizhen Jin and Yudong Zhang

This paper aims to propose a framework model of belief consistency on the confirmatory bias theory, trying to explore the interactions between cues of credence-label structure and…

253

Abstract

Purpose

This paper aims to propose a framework model of belief consistency on the confirmatory bias theory, trying to explore the interactions between cues of credence-label structure and different controversial types of health foods, as well as the intermediary mechanism of belief consistency.

Design/methodology/approach

This paper presents a conceptual framework of belief consistency based on confirmation bias theory. The interactions between cues of credence-label structure and different controversial types of health foods, as well as the intermediary mechanism of belief consistency.

Findings

Consumers’ willingness to purchase varies under interactions between cues of credence-label structure (product-level and ingredient-level credence-label cues) and different controversial types of health foods (noncontroversial health foods and controversial health foods). In the consumption context of noncontroversial health foods, the presence of product-level credence-label cues causes confirmation bias, greater perception of health belief consistency and higher willingness to purchase healthy foods. In the consumption context of controversial health foods, the presence of ingredient-level credence-label cues results in the prevention of confirmation bias, lower perception of unhealthy belief consistency and higher willingness to purchase health foods.

Originality/value

This paper offers a significant tool for researchers to enrich relevant theories in the field of the conceptual framework of cues of credence-label structure. It also discusses practical implications for enterprise marketing and for the health and welfare of consumers.

Details

Nankai Business Review International, vol. 14 no. 4
Type: Research Article
ISSN: 2040-8749

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Article
Publication date: 25 March 2021

Yudong Zhang, Leiying He and Chuanyu Wu

The purpose of this paper is to study the preload range of tendon-driven manipulator and the relationship between preload and damping. The flexible joint manipulator (FJM) with…

166

Abstract

Purpose

The purpose of this paper is to study the preload range of tendon-driven manipulator and the relationship between preload and damping. The flexible joint manipulator (FJM) with joint flexibility is safer than traditional rigid manipulators. A FJM having an elastic tendon is called an elastic tendon-driven manipulator (ETDM) and has the advantages of being driven by a cable and having a more flexible joint. However, the elastic tendon introduces greater residual vibration, which makes the control of the manipulator more difficult. Accurate dynamic modeling is effective in solving this problem.

Design/methodology/approach

The present paper derives the relationship between the preload of the ETDM and the friction moment through the analysis of the forces of cables and pulleys. A dynamic model dominated by Coulomb damping is established.

Findings

The linear relationship between a decrease in the damping moment of the system and an increase in the ETDM preload is verified by mechanics analysis and experiment, and a curve of the relationship is obtained. This study provides a reference for the selection of ETDM preload.

Originality/value

The method to identify ETDM damping by vibration attenuation experiments is proposed, which is helpful to obtain a more accurate dynamic model of the system and to achieve accurate control and residual vibration suppression of ETDM.

Details

Industrial Robot: the international journal of robotics research and application, vol. 48 no. 3
Type: Research Article
ISSN: 0143-991X

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Article
Publication date: 30 May 2023

Chuanming Ju, J. Zhang, Yudong Zhong, Xianfeng Du, Jun Li and Baotao Chi

The purpose of this paper is to present an adaptive binary-tree element subdivision method (BTSM) for the evaluation of nearly singular integrals in three-dimensional boundary…

49

Abstract

Purpose

The purpose of this paper is to present an adaptive binary-tree element subdivision method (BTSM) for the evaluation of nearly singular integrals in three-dimensional boundary element method, which can facilitate automatic and high-quality patch generation.

Design/methodology/approach

In this method, the nearly singular element is split into two sub-elements. Each sub-element is then examined to determine if it is to be subdivided based on a specific subdivision criterion. The specific subdivision ensures that those sub-elements far from the source point are sparse. And then those sub-elements in close proximity to the source point are replaced by regular triangular elements.

Findings

With the proposed method, the sub-elements obtained are automatically refined as they approach the projection point, and they are “good” in shape and size for standard Gaussian quadrature. Thus, the proposed method can be used to evaluate nearly singular integrals accurately for cases of different element shapes and various locations of the source point.

Originality/value

Numerical examples for surface elements with various relative locations of the source point are presented. The results demonstrate that the proposed method has much better accuracy and robustness than some other methods.

Details

Engineering Computations, vol. 40 no. 3
Type: Research Article
ISSN: 0264-4401

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Article
Publication date: 20 December 2018

Yuan Li, J. Zhang, Yudong Zhong, Xiaomin Shu and Yunqiao Dong

The Convolution Quadrature Method (CQM) has been widely applied to solve transient elastodynamic problems because of its stability and generality. However, the CQM suffers from…

114

Abstract

Purpose

The Convolution Quadrature Method (CQM) has been widely applied to solve transient elastodynamic problems because of its stability and generality. However, the CQM suffers from the problems of huge memory requirement in case of direct implementation in time domain or CPU time in case of its reformulation in Laplace domain. The purpose of this paper is to combine the CQM with the pseudo-initial condition method (PICM) to achieve a good balance between memory requirement and CPU time.

Design/methodology/approach

The combined methods first subdivide the whole analysis into a few sub-analyses, which is dealt with the PICM, namely, the results obtained by previous sub-analysis are used as the initial conditions for the next sub-analysis. In each sub-analysis, the time interval is further discretized into a number of sub-steps and dealt with the CQM. For non-zero initial conditions, the pseudo-force method is used to transform them into equivalent body forces. The boundary face method is employed in the numerical implementation. Three examples are analyzed. Results are compared with analytical solutions or FEM results and the results of reformulated CQM.

Findings

Results demonstrate that the computation time and the storage requirement can be reduced significantly as compared to the CQM, by using the combined approach.

Originality/value

The combined methods can be successfully applied to the problems of long-time dynamic response, which requires a large amount of computer memory when CQM is applied, while preserving the CQM stability. If the number of time steps is high, then the accuracy of the proposed approach can be deteriorated because of the pseudo-force method.

Details

Engineering Computations, vol. 36 no. 1
Type: Research Article
ISSN: 0264-4401

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Article
Publication date: 14 November 2019

Jianming Zhang, Lei Han, Yudong Zhong, Yunqiao Dong and Weicheng Lin

This paper aims to propose a boundary element analysis of two-dimensional linear elasticity problems by a new expanding element interpolation method.

130

Abstract

Purpose

This paper aims to propose a boundary element analysis of two-dimensional linear elasticity problems by a new expanding element interpolation method.

Design/methodology/approach

The expanding element is made up based on a traditional discontinuous element by adding virtual nodes along the perimeter of the element. The internal nodes of the original discontinuous element are referred to as source nodes and its shape function as raw shape function. The shape functions of the expanding element constructed on both source nodes and virtual nodes are referred as fine shape functions. Boundary variables are interpolated by the fine shape functions, while the boundary integral equations are collocated on source nodes.

Findings

The expanding element inherits the advantages of both the continuous and discontinuous elements while overcomes their disadvantages. The polynomial order of fine shape functions of the expanding elements increases by two compared with their corresponding raw shape functions, while the expanding elements still keep independence to each other as the original discontinuous elements. This feature makes the expanding elements able to naturally and accurately interpolate both continuous and discontinuous fields.

Originality/value

Numerical examples are presented to verify the proposed method. Results have demonstrated that the accuracy, efficiency and convergence rate of the expanding element method.

Details

Engineering Computations, vol. 37 no. 1
Type: Research Article
ISSN: 0264-4401

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Article
Publication date: 30 November 2018

Chunlan Liu, Yong Wei, Yudong Su, Hao Liu, Yonghui Zhang and Xiangfei Nie

This paper aims to propose and demonstrate a novel surface plasmon resonance (SPR)-sensing approach by using the fundamental mode beam based on a graded index multimode fiber…

129

Abstract

Purpose

This paper aims to propose and demonstrate a novel surface plasmon resonance (SPR)-sensing approach by using the fundamental mode beam based on a graded index multimode fiber (GIF). The proposed SPR sensor has high sensitivity and controllable working dynamic range, which expects to solve the two bottlenecks of fiber SPR sensor, including low sensitivity and the difficulty in multichannel detection.

Design/methodology/approach

The low-order mode of the GIF to SPR sense, which keeps the sensitivity advantage of the single-mode fiber SPR sensor, is used. By using this new SPR sensor, the effect of light incident angle and gold film thickness on working dynamic range was studied. According to the study results, the smaller is the incident angle, the larger is the SPR working dynamic range and the longer is the resonance wavelength with a fixed gold film thickness; the larger is the gold film thickness, the longer is the resonance wavelength with a fixed grinding angle. After the parameter optimization, the sensitivity of these two parameter-adjusting methods reach 4,442 and 3031 nm/RIU.

Originality/value

When the grinding angle of the GIF increases, the dynamic range of the resonance wavelength increases and has a redshift, sensitivity increases, and the resonance valley becomes more unobvious with a fixed gold film thickness. Similarly, when gold film thickness increases, the dynamic range of the resonance wavelength increases and has a redshift, sensitivity increases, and the resonance valley becomes more unobvious with a fixed grinding angle. These adjusting performance aforementioned lay the foundation for solving of the fiber-based SPR multichannel detection and increasing of the fiber-based SPR sensor sensitivity, which has a good application value.

Details

Sensor Review, vol. 39 no. 3
Type: Research Article
ISSN: 0260-2288

Keywords

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Article
Publication date: 11 January 2022

Yudong Xu, Xinming Zhang, Qiongying Lv and Guozhen Mu

A parametric method for designing the hub, casing and blades of the miniature centrifugal compressor impeller was developed. The relationship model of the size, aerodynamic and…

152

Abstract

Purpose

A parametric method for designing the hub, casing and blades of the miniature centrifugal compressor impeller was developed. The relationship model of the size, aerodynamic and performance parameters of the centrifugal impeller was established. Based on the selected design parameters, the miniature centrifugal-type impeller was designed, and the work efficiency was calculated.

Design/methodology/approach

In this study, a micro-centrifugal compressor impeller with a diameter of less than 25 mm was designed. A parametric design method was developed, and the functional relationship between the geometric and gas fluidity parameters was established.

Findings

The results of this study showed that the performance parameters of the designed micro-centrifugal impeller satisfied the design requirements. The proposed method is useful as a reference for designing and analysing compressor impellers under high Reynolds number conditions.

Originality/value

A parametric design method was developed, and the functional relationship between the geometric and gas fluidity parameters was established. Under the Reynolds number conditions, the flow characteristics of the gas in the compressor were analysed; the shear-stress transport turbulence equation was solved using the finite volume method. In addition, the effects of the Reynolds number on the velocity, pressure, mass flow and efficiency of the micro-scale centrifugal compressor were evaluated. The results showed that the performance parameters of the designed micro-centrifugal impeller satisfied the design requirements. The proposed method is useful as a reference for designing and analysing compressor impellers under high Reynolds number conditions.

Details

Industrial Lubrication and Tribology, vol. 74 no. 1
Type: Research Article
ISSN: 0036-8792

Keywords

Available. Open Access. Open Access
Article
Publication date: 17 November 2022

Yudong Qi and Xi Chu

Currently, China’s economy is in the critical phase of transforming economic development patterns and replacing old growth drivers with new ones. Whether it can successfully…

3753

Abstract

Purpose

Currently, China’s economy is in the critical phase of transforming economic development patterns and replacing old growth drivers with new ones. Whether it can successfully overcome the “middle-income trap” has become a significant issue attracting wide attention.

Design/methodology/approach

Driven by underlying digital technologies such as artificial intelligence, blockchain, cloud computing and big data, the fourth industrial revolution featuring the booming digital economy has provided significant opportunities for China’s economy to “overtake” and overcome the “middle-income trap”. The transformation of economic development pattern, the optimization of industrial structure, and the change of growth drivers, brought by the deep integration of digital and real economies are the keys to leaping over the “middle-income trap”.

Findings

From the supply side, the digital economy can improve the quality and efficiency of the supply side and promote the supply-side structural reform and economic growth from the following three aspects: First, promote the quality, efficiency and diversification of the supply system; second, promote networking, opening-up and synergy in the innovation system and third, promote the socialization, modularization and flexibility of production pattern. From the demand side, the digital economy can boost the new drivers of the “troika” of economic growth consisting of consumption, exports and investment by changing the market investment direction, promoting consumption upgrade and fostering export strengths. However, once these two attributes interact with each other, especially when data is combined with capital, the most adhesive factor in the market economy, a series of new social relations will then be produced based on the technical attribute, resulting in significant adjustments in social relations, involving both positive and negative externalities.

Originality/value

To overcome the “middle-income trap”, it is necessary to adapt to the laws of economic evolution and promote a fundamental change in economic growth drivers; boost the high-quality development of the digital economy by strengthening the support role of data in the digital economy; and accelerate digital industrialization and industrial digitalization to realize the integration of digital and real economies.

Details

China Political Economy, vol. 5 no. 1
Type: Research Article
ISSN: 2516-1652

Keywords

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