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The characteristic of static is quite important especially for the manipulator with force feedback. This paper aims to improve the traditional static model by considering the limitations such as lacking of versatility and ignoring gravity of links. For this purpose, a new asymmetric mass distribution method on the analysis of universal “force-sensing” model has been put forward to overcome the limitations.

Through the forces and torques analysis of every link and the moving platform, the static model of 3-RUU manipulator is acquired. Then, based on the physical meaning analysis of every part in the static model of 3-RUU manipulator, a new asymmetric mass distribution method on the analysis of universal “force-sensing” model can be obtained.

The correctness of the static model of 3-RUU manipulator is verified by simulation results based on Pro/Engineer software and Adams software. Furthermore, experiment results based on a manipulator similar to the Omega.3 manipulator indicate that the universal “force-sensing” model can be applicable to the above manipulator.

A new asymmetric mass distribution method on the analysis of universal static mathematical model has been put forward. Based on physical meaning of the above method, the “force-sensing” model can be established quickly and it owns versatility, which can be applicable to the 3-RUU manipulator, the Omega.3 parallel manipulator and other similar manipulators with force feedback. In addition, it can improve the accuracy of the “force-sensing” model to a great extent.

The purpose of this paper is to analyze the mechanism and filter efficacy of accumulation generation operator (AGO)/inverse accumulation generation operator (IAGO) in the frequency domain.

The AGO/IAGO in time domain will be transferred to the frequency domain by the Fourier transform. Based on the consistency of the mathematical expressions of the AGO/IAGO in the gray system and the digital filter in digital signal processing, the equivalent filter model of the AGO/IAGO is established. The unique methods in digital signal processing systems “spectrum analysis” of AGO/IAGO are carried out in the frequency domain.

Through the theoretical study and practical example, benefit of spectrum analysis is explained, and the mechanism and filter efficacy of AGO/IAGO are quantitatively analyzed. The study indicated that the AGO is particularly suitable to act on the system's behavior time series in which the long period parts is the main factor. The acted sequence has good effect of noise immunity.

The AGO/IAGO has a wonderful effect on the processing of some statistical data, e.g. most of the statistical data related to economic growth, crop production, climate and atmospheric changes are mainly affected by long period factors (i.e. low-frequency data), and most of the disturbances are short-period factors (high-frequency data). After processing by the 1-AGO, its high frequency content is suppressed, and its low frequency content is amplified. In terms of information theory, this two-way effect improves the signal-to-noise ratio greatly and reduces the proportion of noise/interference in the new sequence. Based on 1-AGO acting, the information mining and extrapolation prediction will have a good effect.

The authors find that 1-AGO has a wonderful effect on the processing of data sequence. When the 1-AGO acts on a data sequence X, its low-pass filtering effect will benefit the information fluctuations removing and high-frequency noise/interference reduction, so the data shows a clear exponential change trends. However, it is not suitable for excessive use because its equivalent filter has poles at the non-periodic content. But, because of pol effect at zero frequency, the 1-AGO will greatly amplify the low-frequency information parts and suppress the high-frequency parts in the information at the same time.

This paper aims to analyze the key factors influencing the synchronization performance of distributed motion control system and to improve the synchronization performance for peripherals control of this system.

This paper deals with the software synchronization problems of distributed motion control system based on real-time Ethernet. First, combined with communication and control tasks, the key factors affecting synchronization performance of system are analyzed. Then, aiming at key factors and considering the synchronization of system bus, protocol conversion and task scheduling, a software synchronization method based on CANopen protocol and real-time Ethernet is proposed. Finally, the feasibility of this method is verified by establishing distributed motion control system and testing the synchronization performance of terminal control signals of slaves.

Based on this method, the results show that the synchronization accuracy for peripherals control of all slaves could be about 100 ns.

This research provides high-precision synchronization method, which could lay a foundation for the application of distributed motion control system in the field of assembly automation, such as multi-axis assembly robots control.

In distributed motion control system, many factors affect the synchronization performance. At present, there is no synchronization method that could comprehensively consider these factors. This paper not only analyzes the key factors influencing the synchronization performance of system but also proposes a synchronization method. Therefore, the method proposed in this paper has certain theoretical value and engineering significance.

The purpose of this paper is to introduce a novel method for developing static aeroelastic models based on rapid prototyping for wind tunnel testing.

A metal frame and resin covers are applied to a static aeroelastic wind tunnel model, which uses the difference of metal and resin to achieve desired stiffness distribution by the stiffness similarity principle. The metal frame is made by traditional machining, and resin covers are formed by stereolithgraphy. As demonstrated by wind tunnel testing and stiffness measurement, the novel method of design and fabrication of the static aeroelastic model based on stereolithgraphy is practical and feasible, and, compared with that of the traditional static elastic model, is prospective due to its lower costs and shorter period for its design and production, as well as avoiding additional stiffness caused by outer filler.

This method for developing static aeroelastic wind tunnel model with a metal frame and resin covers is feasible, especially for aeroelastic wind tunnel models with complex external aerodynamic shape, which could be accurately constructed based on rapid prototypes in a shorter time with a much lower cost. The developed static aeroelastic aircraft model with a high aspect ratio shows its stiffness distribution in agreement with the design goals, and it is kept in a good condition through the wind tunnel testing at a Mach number ranging from 0.4 to 0.65.

The contact stiffness between the metal frame and resin covers is difficult to calculate accurately even by using finite element analysis; in addition, the manufacturing errors have some effects on the stiffness distribution of aeroelastic models, especially for small-size models.

The design, fabrication and ground testing of aircraft static aeroelastic models presented here provide accurate stiffness and shape stimulation in a cheaper and sooner way compared with that of traditional aeroelastic models. The ground stiffness measurement uses the photogrammetry, which can provide quick, and precise, evaluation of the actual stiffness distribution of a static aeroelastic model. This study, therefore, expands the applications of rapid prototyping on wind tunnel model fabrication, especially for the practical static aeroelastic wind tunnel tests.

This study aims to examine how reward expectancy mediates the effect of abusive supervision on organizational citizenship behavior. Furthermore, drawing upon regulatory focus theory, this paper proposes and tests the moderating role of promotion focus in the proposed mediating effect.

Both hierarchical regression and PROCESS macro are conducted to analyze longitudinal data collected from 142 MBA students in different industries in the People’s Republic of China.

Results reveal that abusive supervision was negatively related to both organization-directed citizenship behavior (OCBO) and individual-directed citizenship behavior (OCBI) through undermining individual reward expectancies. Results also show that promotion focus moderated the negative effect of abusive supervision on reward expectancy, such that the relationship was stronger when promotion focus was higher. In addition, the indirect effect of abusive supervision on OCBO and OCBI carried through reward expectancy was also stronger among individuals with higher promotion focus.

It contributes to the literature on abusive supervision by offering a new perspective regarding the mechanism of abusive supervision influence on organizational citizenship behavior. The findings thus shed insights into cognitions and motivations that are associated with organizational citizenship behavior. In addition, it is the first to link abusive supervision with regulatory focus theory to examine the decrease of organizational citizenship behavior.

Ciliated microelectromechanical system (MEMS) vector hydrophones pick up sound signals through Wheatstone bridge in cross beam-ciliated microstructures to achieve information transmission. This paper aims to overcome the complexity and variability of the marine environment and achieve accurate location of targets. In this paper, a new method for ocean noise denoising based on improved complete ensemble empirical mode decomposition with adaptive noise combined with wavelet threshold processing method (CEEMDAN-WT) is proposed.

Based on the CEEMDAN-WT method, the signal is decomposed into different intrinsic mode functions (IMFs), and relevant parameters are selected to obtain IMF denoised signals through WT method for the noisy mode components with low sample entropy. The final pure signal is obtained by reconstructing the unprocessed mode components and the denoising component, effectively separating the signal from the wave interference.

The three methods of empirical mode decomposition (EMD), ensemble empirical mode decomposition (EEMD) and CEEMDAN are compared and analyzed by simulation. The simulation results show that the CEEMDAN method has higher signal-to-noise ratio and smaller reconstruction error than EMD and EEMD. The feasibility and practicability of the combined denoising method are verified by indoor and outdoor experiments, and the underwater acoustic experiment data after processing are combined beams. The problem of blurry left and right sides is solved, and the high precision orientation of the target is realized.

This algorithm provides a theoretical basis for MEMS hydrophones to achieve accurate target positioning in the ocean, and can be applied to the hardware design of sonobuoys, which is widely used in various underwater acoustic work.

The paper aims to clarify the operation rationality of high speed trains (HSTs) under tunnel condition with the speed of 400 km/h through representative aerodynamic factors including running drag, eardrum comfort, carriages noise, aerodynamic loads on tunnel ancillary facilities and HST, micro-pressure waves, and then put forward engineering suggestions for higher speed tunnel operation based on the analysis.

Based on the field measurement data of CR400AF-C and CR400BF-J tunnel operation, correlations between each aerodynamic indicators with HST speed were established. By analyzing the safety reserve of aerodynamic indicators at 350 km/h and the sensitivity of each indicator to HST speed increasing and the indicators’ formation mechanism, the coupling relationship between various indicators was obtained.

The sensitivity of different aerodynamic indicators to speed variation differed. The aerodynamic indicators representing flow field around HST showed a linear relationship with HST speed including noise, eardrum comfort, aerodynamic load on HST body. The positive aerodynamic load on tunnel auxiliary facilities and the micro-pressure wave at the entrance of the tunnel have the same sensitivity to the 3th-power relation of HST speed. The over-limit proportion of micro-pressure wave was the highest among the indicators, and aerodynamic buffering measures were recommended for optimization. The open tunnel pressure relief structure is recommended, while allowing trains to pass through the tunnel at an unconditional speed of 380 km/h.

Comprehensive evaluation of multiple aerodynamic indicators for HST tunnel operation with higher speeds was realized. The main engineering requirements to release aerodynamic effect were identified and the optimization scheme is proposed.

The purpose of this study is to investigate whether the corporate environmental, social and governance (ESG) performance of enterprise is influenced by the enterprise digital transformation. In addition, this study explains how enterprise digital transformation affects ESG performance.

The sample covers 4,646 nonfinancial companies listed on China’s A-share market from 2009 to 2021. The study adopts the fixed-effects multiple linear regression to perform the data analysis.

The study finds that enterprise digital transformation has a significant inverted U-shaped impact on ESG performance. Moderate digital transformation can improve enterprise ESG performance, whereas excessive digital transformation will bring new organizational conflicts and increase enterprise costs, which is detrimental to ESG performance. This inverted U-shaped effect is more pronounced in industrial cities, manufacturing industries and enterprises with less financing constraints and executives with financial backgrounds. Enterprise digital transformation mainly affects ESG performance by affecting the level of internal information communication and disclosure, the level of internal control and the principal-agent cost.

The government should take multiple measures to encourage enterprises to choose appropriate digital transformation based on their own production behaviors and development strategies, encourage them to innovate and upgrade their organizational management and development models in conjunction with digital transformation and guide them to use digital technology to improve ESG performance.

This study shows that irrational digital transformation cannot effectively improve the ESG performance of enterprises and promote the sustainable development of the country. Enterprises should carry out reasonable digital transformation according to their own development needs and finally improve the green and sustainable development ability of enterprises and promote the sustainable development of society.

This study examines the relationship between enterprise digital transformation and ESG performance. Different from the linear relationship between the two in previous major studies, this study proves the inverse U-shaped relationship between enterprise digital transformation and ESG performance through mathematical theoretical model derivation and empirical test. This study also explores in detail how corporate digital transformation affects ESG performance, as well as discusses heterogeneity at the city, industry and firm levels. It is proposed that enterprises should take into account their own characteristics and carry out reasonable digital transformation according to their development needs.

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.