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The hands of intelligent robots perceive external stimuli and respond effectively according to tactile or pressure sensors. However, the traditional tactile and pressure sensors cannot perform human-skin-like intelligent properties of high sensitivity, large measurement range, multi-function and flexibility simultaneously. The purpose of this paper is to present a flexible tactile-pressure sensor based on hyper-elastics polydimethylsiloxane and plate capacitance.

With regard to this problem, this paper presents a flexible tactile-pressure sensor based on hyper-elastics PDMS and plate capacitance. The sensor has a size of 10 mm × 10 mm × 1.3 mm and is composed of four upper electrodes, one middle driving electrode and one lower electrode. The authors first analyzed the structure and the tactile-pressure sensing principle of human skin to obtain the design parameters of the sensor. Then they presented the working principle, material selection and mechanical structure design and fabrication process of the sensor. The authors also fabricated several sample devices of the sensor and carried out experiments to establish the relationship between the sensor output and the pressure.

The results show that the tactile part of the sensor can measure a range of 0.05-1N/mm² micro pressure with a sensitivity of 2.93 per cent/N and a linearity of 0.03 per cent. The pressure part of the sensor can measure a range of 1-30N/mm² pressure with a sensitivity of 0.08 per cent/N and a linearity of 0.07 per cent.

This paper analyzes the tactile and pressure sensing principles of human skin and develop an intelligent sensitive human-skin-like tactile-pressure sensor for intelligent robot perception systems. The sensor can achieve to imitate the tactile and pressure function simultaneously with a measurement resolution of 0.01 N and a spatial resolution of 2 mm.

The paper aims to identify the contributors to freight rate fluctuations in the Suezmax tanker market; this study selected the refinery output, crude oil price, one-year charter rate and fleet development as the main influencing factors for the market analysis.

The paper used the vector error correction model to evaluate the degree of impact of each influencing factor on Suezmax tanker freight rates, as well as the interplay between these factors.

The conclusion and results were tested using the 20-year data from 1999 to 2019, and the methodology and theory of this paper were proved to be effective. Results of this study provide effective reference for scholars to find the law of fluctuations in Suezmax tanker freight rates.

This paper provides a decision-making support tool for tanker operators to cope with fluctuation risks in the tanker shipping market.

Laser-based powder bed fusion (LPBF) is a new method for forming thin-walled parts, but large cooling rates and temperature gradients can lead to large residual stresses and deformations in the part. This study aims to reduce the residual stress and deformation of thin-walled parts by a specific laser rescanning strategy.

A three-dimensional transient finite element model is established to numerically simulate the LPBF forming process of multilayer and multitrack thin-walled parts. By changing the defocus amount, the laser in situ annealing process is designed, and the optimal rescanning parameters are obtained, which are verified by experiments.

The results show that the annealing effect is related to the average surface temperature and scan time. When the laser power is 30 W and the scanning speed is 20 mm/s, the overall residual stress and deformation of the thin-walled parts are the smallest, and the in situ annealing effect is the best. When the annealing frequency is reduced to once every three layers, the total annealing time can be reduced by more than 60%.

The research results can help better understand the influence mechanism of laser in situ annealing process on residual stress and deformation in LPBF and provide guidance for reducing residual stress and deformation of LPBF thin-walled parts.

This study is devoted to examining the peer effects of engineering enterprises’ internationalization from the viewpoint of industry subdivision and how information and competition alter peer effects. Furthermore, the heterogeneity of peer effects is analyzed based on manager characteristics.

In this study, multiple regression analysis was conducted on a sample of 38 Chinese engineering enterprises listed in the Engineering News-Record’s top 250 international contractors over the period of 2013–2021. This study collected the paired data from the enterprise annual reports and the China Stock Market & Accounting Research database.

The results reveal that (1) there exist peer effects within the subdivided industry of the engineering field; the quality of information disclosure of peer enterprises and degree of market competition moderate the peer effects; (2) the peer effects of internationalization are more pronounced in engineering enterprises with managers who have lower ability, hold greater power or are older.

The findings of this study contribute to understanding the peer effect in the process of internationalization of engineering enterprises, and help enterprises to effectively supervise the irrational behavior of top managers, so as to develop better internationalization strategies.

The results extend peer effects to the subdivision industry of the engineering field. Furthermore, this study also enriches the relevant research on peer effects among enterprises by empirically supporting the moderating role of information and competition as well as analyzing the heterogeneity of the peer effects from the perspective of manager characteristics.

This study explores whether the peer effects of internationalization exist within the subdivision industry of enterprises in the engineering field and assesses the imitation paths for the peer engineering enterprises within the industry when implementing internationalization strategies under the peer effects.

This study collected secondary and objective data on 38 Chinese engineering enterprises from the Engineering News-Record's list of the top 250 international contractors between 2013 and 2021. It employed a regression analysis to test the research hypotheses.

The findings reveal that in the process of internationalization: (1) peer effects exist within the subdivision industry of internationalization of engineering enterprises; (2) engineering enterprises within the same industry and region imitate each other; (3) non-state-owned engineering enterprises imitate state-owned engineering enterprises within the same industry; and (4) in the industry follower–leader imitation process, industry followers imitate leaders according to enterprise size and return on assets.

The results contribute to a better understanding of how peer effects influence engineering enterprises' internationalization process. This study also proposes imitation paths based on the law of imitation to provide recommendations for engineering enterprises' better development in the international market.

In order to optimize SCSWIRC, the simplification and further optimization method is proposed. SCSWIRC's optimization includes two levels. The first level refers to simplifying structural system from the perspective of components; the second level refers to optimizing components' sectional areas from the perspective of mechanics. The first level aims to remove redundant components, and the second level aims to reduce structural self-weight based on the first level. The purpose of the paper is to simplify SCSWIRC's structural system and optimize structural self-weight and reduce construction forming difficulty.

Grid-jumping layout and multi-objective optimization method is used to simplify and further optimize Spatial cable-truss structure without inner ring cables (SCSWIRC). Grid-jumping layout is used to simplify remove redundant components, and multi-objective optimization method is used to reduce structural self-weight. The detailed solving process is given based on grid-jumping layout and multi-objective optimization method.

Take SCSWIRC with a span of 100m as an example to verify the feasibility and correctness of the simplification and further optimization method. The optimization results show that 12 redundant components are removed and the self-weight reduces by 3.128t from original scheme to grid-jumping layout scheme 1. The self-weight reduces from 36.007t to 28.231t and feasible coefficient decreases from 1.0 to 0.627 from grid-jumping layout scheme 1 to multi-objective optimization scheme. The simplification and further optimization can not only remove the redundant components and simplify structural system to reduce construction forming difficulty, but also optimize structural self-weight under considering structural stiffness to reduce project costs.

The proposed method firstly simplifies SCSWIRC and then optimizes the simplified SCSWIRC, which can solve the optimization problem from the perspective of components and mechanics. Meanwhile, the optimal section solving method can be used to obtain circular steel tube size with the optimal stiffness of the same areas. The proposed method successfully solves the problem of construction forming and project cost, which promotes the application of SCSWIRC in practical engineering.

Instantaneous unloading with equal force is usually used to simulate the sudden failure of cables. This simulation method with equivalent force requires obtaining the magnitude and direction of the force for the failed cable in the normal state. It is difficult, however, to determine the magnitude or direction of the equivalent force when the shape of the cable is complex (space curve). This model of equivalent force may be difficult to establish. Thus, a numerical simulation method, the instantaneous temperature rise method, was proposed to address the dynamic response caused by failures of the cables with complex structural form.

This method can instantly reduce the cable force to zero through the instantaneous temperature rise process of the cable. Combined with theoretical formula and finite element model, the numerical calculation principle and two key parameters (temperature rise value and temperature rise time) of this method were detailed. The validity of this approach was verified by comparing it with equivalent force models. Two cable-net case with saddle curved surfaces were presented. Their static failure behaviors were compared with the dynamic failure behaviors calculated by this method.

This simulation method can effectively address the structural dynamic response caused by cable failure and may be applied to all cable structures.

An instantaneous temperature rise method (ITRM) is proposed and verified. Its calculation theory is detailed. Two key parameters, temperature rise value and temperature rise time, of this method are discussed and the corresponding reference values are recommended.

The purpose of this paper is to enhance control accuracy, energy efficiency and productivity of customized industrial robots by the proposed multi-objective trajectory optimization approach. To obtain accurate dynamic matching torques of the robot joints with optimal motion, an improved dynamic model built by a novel parameter identification method has been proposed.

This paper proposes a novel multi-objective optimal approach to minimize the time and energy consumption of robot trajectory. First, the authors develop a reliable dynamic parameters identification method to obtain joint torques for formulating the normalized energy optimization function and dynamic constraints. Then, optimal trajectory variables are solved by converting the objective function into relaxation constraints based on second-order cone programming and Runge–Kutta discrete method to reduce the solving complexity.

Extensive experiments via simulation and in real customized robots are conducted. The results of this paper illustrate that the accuracy of joint torque predicted by the proposed model increases by 28.79% to 79.05% over the simplified models used in existing optimization studies. Meanwhile, under the same solving efficiency, the proposed optimization trajectory consumes a shorter time and less energy compared with the existing optimization ones and the polynomial trajectory.

A novel time-energy consumption optimal trajectory planning method based on dynamic identification is proposed. Most existing optimization methods neglect the effect of dynamic model reliability on energy efficiency optimization. A novel parameter identification approach and a complete dynamic torque model are proposed. Experimental results of dynamic matching torques verify that the control accuracy of optimal robot motion can be significantly improved by the proposed model.

Effective and robust motion estimation with sub-pixel accuracy is essential in many image processing and computer vision applications. Due to its computational efficiency and robustness in the presence of intensity changes as well as geometric distortions, phase correlation in the Fourier domain provides an attractive solution for global motion estimation and image registration. The paper aims to discuss these issues.

In this paper, relevant sub-pixel strategies are categorized into three classes, namely, single-side peak interpolation, dual-side peak interpolation and curve fitting. The well-known images “Barbara” and “Pentagon” were used to evaluate the performance of eight typical methods, in which Gaussian noise was attached in the synthetic data.

For eight such typical methods, the tests using synthetic data have suggested that considering dual-side peaks in interpolation or fitting helps to produce better results. In addition, dual-side interpolation outperforms curve fitting methods in dealing with noisy samples. Overall, Gaussian-based dual-side interpolation seems the best in the experiments.

Based on the comparisons of eight typical methods, the authors can have a better understanding of the phase correlation for motion estimation. The evaluation can provide useful guidance in this context.

The purpose of this paper is that the modular mobile robots reformed the multimachine joint mode to achieve obstacle-crossing, climbing and other multifunctional inspection in unstructured environment under the connection of the cone–hole docking mechanism.

An arc-shaped docking cone head with a posture-maintaining spring and two arc-shaped connecting rods that formed a ring round hole were designed to achieve large tolerance docking. Before active locking, the coordination between structures was used to achieve passive locking, which mitigated the docking impact of modular robots in unstructured environment. Using the locking ring composed of the two arc-shaped connecting rods, open-loop and closed-loop motion characteristics were obtained through the mutual motion of the connecting rod and the sliding block to achieve active locking, which not only ensured high precision docking, but also achieved super docking stability.

The cone–hole docking mechanism had the docking tolerance performance of position deviation of 6mm and pitch deviation of 8° to achieve docking of six degrees of freedom (6-DOF), which had a load capacity of 230 N to achieve super docking stability. Under the connection of the cone–hole docking mechanism, the modular mobile robots reformed the multimachine joint mode to achieve obstacle-crossing, climbing and other multifunctional inspection in unstructured environment.

Based on mechanical analysis of universal models, a cone–hole docking mechanism combining active and passive functions, six-dimensional constraints could be implemented, was proposed in this paper. The characteristics of the posture-maintaining spring in the cone docking head and the compression spring at the two ends of two arc-shaped connecting rods were used to achieve docking with large tolerance. Passive locking and active locking modules were designed, mitigating impact load and the locking did not require power to maintain, which not only ensured high precision docking, but also achieved super docking stability.