Search Results (1,044)

Robotic assembly of electrical connectors enables the automation of high-efficiency production of electronic products. A rigid gripper is adopted as the end-effector by the majority of existing works with a force–torque sensor installed at the wrist, which suffers from very limited perception capability of the manipulated objects. Moreover, the grasping and movement actions, as well as the inconsistency between the robot base and the end-effector frame, tend to result in angular misalignment, usually leading to assembly failure. Bio-inspired by the human finger, we designed a tactile finger in this paper with three characteristics: (1) Compliance: A soft ‘skin’ layer provides passive compliance for plenty of manipulation actions, thus increasing the tolerance for alignment errors. (2) Tactile Perception: Two types of sensing elements are embedded into the soft skin to tactilely sense the involved contact status. (3) Enhanced manipulation force: A rigid fingernail is designed to enhance the manipulation force and enable potential delicate operations. Moreover, a tactile-based alignment algorithm is proposed to search for the optimal orientation angle about the z axis. In the application of U-disk insertion, the three characteristics are validated and a success rate of 100% is achieved, whose generalization capability is also validated through the assembly of three types of electrical connectors. Full article

Based on a comprehensive review of the current research status of ecological compensation both domestically and internationally, combined with field survey data, this study delves into the issue of multi-stakeholder participation in the ecological compensation mechanisms of the Xin’an River Basin. This research reveals that the joint participation of multiple stakeholders is crucial to achieving the goals of ecological compensation in river basins. The government plays a significant role in macro-guidance, financial support, policy guarantees, supervision, and management. It promotes the comprehensive implementation of ecological environmental protection by formulating relevant laws and regulations, guiding the public to participate in ecological conservation, and supervising and punishing pollution behaviors. The public, serving as the main force, forms strong awareness and behavioral habits of ecological protection through active participation in environmental protection, monitoring, and feedback. As participants, enterprises contribute to industrial transformation and green development by improving resource utilization efficiency, reducing pollution emissions, promoting green industries, and participating in ecological restoration projects. Scientific research institutions, as technology enablers, have effectively enhanced governance efficiency through technological research and innovation, ecosystem value accounting to provide decision-making support, and public education. Social organizations, as facilitators, have injected vitality and innovation into watershed governance by extensively mobilizing social forces and building multi-party collaboration platforms. Communities, as supporters, have transformed ecological value into economic benefits by developing characteristic industries such as eco-agriculture and eco-tourism. Based on the above findings, further recommendations are proposed to mobilize the enthusiasm of upstream communities and encourage their participation in ecological compensation, promote the market-oriented operation of ecological compensation mechanisms, strengthen cross-regional cooperation to establish joint mechanisms, enhance supervision and evaluation, and establish a sound benefit-sharing mechanism. These recommendations provide theoretical support and practical references for ecological compensation worldwide. Full article

A method for configuration synthesis of a reconfigurable decoupled parallel mechanical leg is proposed. In addition, a configuration evaluation index is proposed to evaluate the synthesized configurations and select the optimal one. Kinematic analysis and performance optimization of the selected mechanism’s configuration are carried out, and the motion mode of the robot’s reconfigurable mechanical leg is selected according to the task requirements. Then, the robot’s gait in walking mode is planned. Firstly, based on bionic principles, the motion characteristics of a mechanical leg based on a mammalian model and an insect model were analyzed. The input and output characteristics of the mechanism were analyzed to obtain the reconfiguration principle of the mechanism. Using type synthesis theory for the decoupled parallel mechanism, the configuration synthesis of the chain was carried out, and the constraint mode of the mechanical leg was determined according to the constraint property of the chain and the motion characteristics of the moving platform. Secondly, an evaluation index for the complexity of the reconfigurable mechanical leg structure was developed, and the synthesized mechanism was further analyzed and evaluated to select the mechanical leg’s configuration. Thirdly, the inverse position equations were established for the mechanical leg in the two motion modes, and its Jacobian matrix was derived. The degrees of freedom of the mechanism are completely decoupled in the two motion modes. Then, the workspace and motion/force transmission performance of the mechanical leg in the two motion modes were analyzed. Based on the weighted standard deviation of the motion/force transmission performance, the global performance fluctuation index of the mechanical leg motion/force transmission is defined, and the structural size parameters of the mechanical leg are optimized with the performance index as the optimization objective function. Finally, with the reconfigurable mechanical leg in the insect mode, the robot’s gait in the walking operation mode is planned according to the static stability criterion. Full article

Background: The relationship between spleen and bone marrow stiffness, and other features of abnormal myeloproliferation has long been described. However, the scientific knowledge in this area remains very superficial. This review evaluated the diagnostic effectiveness of various ultrasound (US) methods in the assessment of neoplastic myeloproliferation using spleen stiffness measurement (SSM). Aim: To explore the diagnostic accuracy of US techniques in assessing spleen stiffness, determining which of them may be suitable for the diagnosis of myeloproliferative diseases in adults. Methods: The review included original retrospective or prospective studies published in the last five years (2019–2024) in peer-reviewed medical journals that reported receiver operating characteristics (ROCs) for SSM and the articles concerning the relation between SSM values and neoplastic myeloproliferation. The studies were identified through PubMed searches on 1 July and 1 December 2024. Quality was assessed using the QUADAS-2 tool. Results were tabulated according to the diagnostic method separately for myeloproliferative neoplasms (MNs) and for other clinical findings. Results: The review included 52 studies providing ROCs for SSM or compatibility between operators, and five studies covering the relation between SSM values and MNs. Conclusions: Acoustic radiation force impulse (ARFI), two-dimensional shear wave elastography (2D-SWE), transient elastography (TE), and point shear wave elastography (p-SWE) are promising methods for measuring SSM that can be incorporated into the diagnosis, screening, and monitoring system in MNs. Full article

In order to improve the lubrication efficiency in the bearing cavity, this study establishes a simulation model of the fluid domain of the bearing cavity based on the computational fluid dynamics (CFD) method and systematically studies the flow characteristics of the lubricant and its lubrication mechanism in the high-speed rotary bearing. In the process of high-speed bearing operation, the lubricant is subject to the combined effect of centrifugal force and contact pressure, gradually spreads to both sides of the steel ball, and forms a stable oil film after injection from the nozzle. However, due to the influence of high pressure distribution in the contact area, the actual formation of the oil film coverage is relatively limited. In order to further optimize the lubrication effect, this study focuses on investigating the influence law of different injection speeds and rotational speeds on the bearing air curtain effect. The results of the study show that when the air curtain effect is enhanced, there will be significant shear interference on the trajectory of the lubricant, which is manifested in the phenomenon of “buckling” at the end of the lubricant, thus reducing the lubrication efficiency. To address this problem, this study innovatively proposes the air curtain obstruction coefficient K as a quantitative evaluation index, and through numerical simulation, it is found that the lubricant can effectively overcome the air curtain obstruction and achieve a better lubrication coverage when the value of K is reduced to below 0.4. Based on this finding, the study further confirmed that the lubrication efficiency of bearings can be significantly improved under different operating conditions by rationally regulating the injection rate. Full article

Multistage centrifugal pumps, owing to their high head characteristics, are commonly applied in domains like subsea resource exploitation and groundwater extraction. However, the wear of flow passage components caused by solid particles in the fluid severely threatens equipment lifespan and system safety. To investigate the influence of solid-liquid two-phase flow on pump performance and wear, this study conducted numerical simulations of the solid-liquid two-phase flow within multistage centrifugal pumps based on the Euler–Lagrange approach and the Tabakoff wear model. The simulation results showed good agreement with experimental data. Under the design operating condition, compared to the clear water condition, the efficiency under the solid-liquid two-phase flow condition decreased by 1.64%, and the head coefficient decreased by 0.13. As the flow rate increases, particle momentum increases, the particle Stokes number increases, inertial forces are enhanced, and the coupling effect with the fluid weakens, leading to an increased impact intensity on flow passage components. This results in a gradual increase in the wear area of the impeller front shroud, back shroud, pressure side, and the peripheral casing. Under the same flow rate condition, when particles enter the pump chamber of a subsequent stage from a preceding stage, the fluid, after being rectified by the return guide vane, exhibits a more uniform flow pattern and reduced turbulence intensity. The particle Stokes number in the subsequent stage is smaller than that in the preceding stage, weakening inertial effects and enhancing the coupling effect with the fluid. This leads to a reduced impact intensity on flow passage components, resulting in a smaller wear area of these components in the subsequent stage compared to the preceding stage. This research offers critical theoretical foundations and practical guidelines for developing wear-resistant multistage centrifugal pumps in solid-liquid two-phase flow applications, with direct implications for extending service life and optimizing hydraulic performance. Full article

Underwater propulsion systems are the fundamental functional modules of underwater robotics and are crucial in intricate underwater operational scenarios. This paper proposes a biomimetic underwater robot propulsion scheme that is motivated by the hindlimb movements of the bullfrog. A multi-linkage mechanism was developed to replicate the “kicking-and-retracting” motion of the bullfrog by employing motion capture systems to acquire biological data on their hindlimb movements. The FDM 3D printing and PC board engraving techniques were employed to construct the experimental prototype. The prototype’s biomimetic and motion characteristics were validated through motion capture experiments and comparisons with a real bullfrog. The biomimetic bullfrog hindlimb propulsion system was tested with six-degree-of-freedom force experiments to evaluate its propulsion capabilities. The system achieved an average thrust of 2.65 N. The effectiveness of motor drive parameter optimization was validated by voltage comparison experiments, which demonstrated a nonlinear increase in thrust as voltage increased. This design approach, which transforms biological kinematic characteristics into mechanical drive parameters, exhibits excellent feasibility and efficacy, offering a novel solution and quantitative reference for underwater robot design. Full article

To address the wear life prediction challenge of Guide Cones in passive compliant connectors under dynamic loads within specialized equipment, this study proposes a dynamic wear modeling and life assessment method based on the improved Archard model. Through integrated theoretical modeling, finite element simulation, and experimental validation, we establish a bidirectional coupling framework analyzing dynamic contact mechanics and wear evolution. By developing phased contact state identification criteria and geometric constraints, a transient load calculation model is established, revealing dynamic load characteristics with peak contact forces reaching 206.34 N. A dynamic contact stress integration algorithm is proposed by combining Archard’s theory with ABAQUS finite element simulation and ALE adaptive meshing technology, enabling real-time iterative updates of wear morphology and contact stress. This approach constructs an exponential model correlating cumulative wear depth with docking cycles (R² = 0.997). Prototype experiments demonstrate a mean absolute percentage error (MAPE) of 14.6% between simulated and measured wear depths, confirming model validity. With a critical wear threshold of 0.8 mm, the predicted service life reaches 45,270 cycles, meeting 50-year operational requirements (safety margin: 50.9%). This research provides theoretical frameworks and engineering guidelines for wear-resistant design, material selection, and life evaluation in high-reliability automatic docking systems. Full article

The deformation characteristics of the surrounding rock in tunnel groups are considered critical for the design of support structures and the assurance of the long-term safety of deep-buried diversion tunnels. The deformation behavior of surrounding rock in tunnel groups was investigated to guide structural support design. Field tests and numerical simulations were performed to analyze the distribution of ground stress and the ground reaction curve under varying conditions, including rock type, tunnel spacing, and burial depth. A solid unit–structural unit coupled simulation approach was adopted to derive the two-liner support characteristic curve and to examine the propagation behavior of concrete cracks. The influences of surrounding rock strength, reinforcement ratio, and secondary lining thickness on the bearing capacity of the secondary lining were systematically evaluated. The following findings were obtained: (1) The tunnel group effect was found to be negligible when the spacing (D) was ≥65 m and the burial depth was 1600 m. (2) Both P_0.3 and P_max of the secondary lining increased linearly with reinforcement ratio and thickness. (3) For surrounding rock of grade III (IV), 95% u_lim and 90% u_lim were found to be optimal support timings, with secondary lining forces remaining well below the cracking stress during construction. (4) For surrounding rock of grade V in tunnels with a burial depth of 200 m, 90% u_lim is recommended as the initial support timing. Support timings for tunnels with burial depths between 400 m and 800 m are 40 cm, 50 cm, and 60 cm, respectively. Design parameters should be adjusted based on grouting effects and monitoring data. Additional reinforcement is recommended for tunnels with burial depths between 1000 m and 2000 m to improve bearing capacity, with measures to enhance impermeability and reduce external water pressure. These findings contribute to the safe and reliable design of support structures for deep-buried diversion tunnels, providing technical support for design optimization and long-term operation. Full article

Natural polymers, polysaccharides, demonstrate piezoelectric behavior suitable for force sensor manufacturing. Carrageenan hydrogel film with α-iron oxide particles can act as a piezoelectric polysaccharide-based force sensor. The mechanical impact on the hydrogel caused by a falling ball shows the impact response time, which is measured in milliseconds. Repeating several experiments in a row shows the dynamics of fatigue, which does not reduce the speed of response to impact. Through the practical experiments, we sought to demonstrate how theoretical knowledge describes the hydrogel we elaborated, which works as a piezoelectric material. In addition to the theoretical basis, which includes the operation of the metal and metal oxide contact junction, the interaction between the metal oxide and the hydrogel surfaces, the paper presents the practical application of this knowledge to the complex hydrogel film. The simple calculations presented in this paper are intended to predict the hydrogel film’s characteristics and explain the results obtained during practical experiments. Carrageenan, as a low-cost and already widely used polysaccharide in various industries, is suitable for the production of low-cost force sensors in combination with iron oxide. Full article

Carrier-based aircraft recovery is a critical and challenging phase in maritime operations due to the turbulent airwake generated by aircraft carriers, which significantly increases the workload of flight control systems and pilots. This study investigates the airwake effects of an aircraft carrier under varying wind direction conditions. A high-fidelity mathematical model combining delayed detached-eddy simulation (DDES) with the overset grid method was developed to analyze key flow characteristics, including upwash, downwash, and lateral recirculation. The model ensures precise control of aircraft speed and trajectory during landing while maintaining numerical stability through rigorous mesh optimization. The results indicate that the minimum lift occurs in the downwash region aft of the deck, marking it as the most hazardous zone during landing. Aircraft above the deck are primarily influenced by ground effects, causing a sudden increase in lift that complicates arresting wire engagement. Additionally, the side force on the aircraft undergoes an abrupt reversal during the approach phase. The dual overset mesh technique effectively captures the coupled motion of the hull and aircraft, revealing higher turbulence intensity along the glideslope and a wider range of lift fluctuations compared to stationary hull conditions. These findings provide valuable insights for optimizing carrier-based aircraft recovery procedures, offering more realistic data for simulation training and enhancing pilot preparedness for airwake-induced disturbances. Full article

The current research trends of production engineering are based on optimizing the machining process concerning human and environmental factors. High-performance materials, such as hardened steels, nickel-based alloys, fiber-reinforced polymer (FRP) composites, and titanium alloys, are classified as hard-to-cut due to their ability to maintain strength at high operating temperatures. Due to these characteristics, such materials are employed in applications such as aerospace, marine, energy generation, and structural. The purpose of this article is to investigate the machinability of these alloys under various cutting conditions. The purpose of this article is to compare cryogenic cooling and cryogenic processing from the perspective of machinability and sustainability in the manufacturing process. Compared to conventional machining, hybrid techniques, which mix cryogenic and minimal quantity lubricant, led to significantly reduced cutting forces of 40–50%, cutting temperatures and surface finishes by approximately 20–30% and more than 40%, respectively. A carbon footprint is determined by several factors including power consumption, energy requirements, and carbon dioxide emissions. As a result of the cryogenic technology, the energy consumption, power consumption, and CO₂ emissions were reduced by 40%, 28%, and 35%. Full article

The conveying hose is an important piece of equipment in the field of Marine engineering. Its spatial configuration and force conditions affect the normal operation of the Marine engineering system. This paper proposes a flexible, fully hose-based conveyance method for the field of deep-sea mining and mainly uses Orcaflex software to simulate and analyze the characteristics of the conveying hose in this system. This paper studies the influences of the top spacing, incoming flow direction, and placement and recovery processes on the configuration characteristics and force conditions of the hose. The conclusion drawn is that the conveying hose studied in this paper can maintain a good spatial configuration underwater and has a stable force condition. When the top spacing is 20 m, the transition of the curved section at the bottom of the hose is relatively smooth. The top tension of the hose has a good adaptability to the top spacing and the direction of the incoming flow. The conveying hose can stably complete the deployment and recovery operations. Full article

China’s national strategies emphasize both achieving carbon peaking and neutrality (“dual carbon” objectives) and fostering high-quality economic development. This dual focus highlights the critical importance of the Green and Low-Carbon Transition (GLCT) of the economy and the development of New Quality Productive Forces (NQPF). Firms are central actors in this transformation, prompting the core research question: How does corporate engagement in GLCT contribute to the formation of NQPF? We investigate this relationship using panel data comprising 33,768 firm-year observations for A-share listed companies across diverse industries in China from 2012 to 2022. Corporate GLCT is measured via textual analysis of annual reports, while an NQPF index, incorporating both tangible and intangible dimensions, is constructed using the entropy method. Our empirical analysis relies primarily on fixed-effects regressions, supplemented by various robustness checks and alternative econometric specifications. The results demonstrate a significantly positive relationship: corporate GLCT robustly promotes the development of NQPF, with dynamic lag structures suggesting delayed productivity realization. Mechanism analysis reveals that this effect operates through three primary channels: improved access to financing, stimulated collaborative innovation and enhanced resource-allocation efficiency. Heterogeneity analysis indicates that the positive impact of GLCT on NQPF is more pronounced for state-owned enterprises (SOEs), firms operating in high-emission sectors, those in energy-efficient or environmentally friendly industries, technology-intensive sectors, non-heavily polluting industries and companies situated in China’s eastern regions. Overall, our findings suggest that corporate GLCT enhances NQPF by improving resource-utilization efficiency and fostering innovation, with these effects amplified by specific regional advantages and firm characteristics. This study offers implications for corporate strategy, highlighting how aligning GLCT initiatives with core business objectives can drive NQPF, and provides evidence relevant for policymakers aiming to optimize environmental governance and foster sustainable economic pathways. Full article

During the process of flexible aerial refueling, the flexible structure of the hose drogue assembly is affected by internal and external interference, such as docking maneuvering, deformation of the hose, attitude changes, and body vibrations, causing the hose to swing and the whipping phenomenon, which greatly limits the success rate and safety of aerial refueling operations. Based on a 2.4 m transonic wind tunnel, high-speed wind tunnel test technology of a flexible aerial refueling hose–drogue system was established to carry out experimental research on the coupling characteristics of aerodynamics and multi-body dynamics. Based on the aid of Videogrammetry Model Deformation (VMD), high-speed photography, dynamic balance, and other wind tunnel test technologies, the dynamic characteristics of the hose–drogue system in a high-speed airflow and during the approach of the receiver are obtained. Adopting flexible multi-body dynamics, a dynamic system of the tanker, hose, drogue, and receiver is modeled. The cable/beam model is based on an arbitrary Lagrange–Euler method, and the absolute node coordinate method is used to describe the deformation, movement, and length variation in the hose during both winding and unwinding. The aerodynamic forces of the tanker, receiver, hose, and drogue are modeled, reflecting the coupling influence of movement of the tanker and receiver, the deformation of the hose and drogue, and the aerodynamic forces on each other. The tests show that during the approach of the receiver (distance from 1000 mm to 20 mm), the sinking amount of the drogue increases by 31 mm; due to the offset of the receiver probe, the drogue moves sideways from the symmetric plane of the receiver. Meanwhile, the oscillation magnitude of the drogue increases (from 33 to 48 and from 48 to 80 in spanwise and longitudinal directions, respectively). The simulation results show that the shear force induced by the oscillation of the hose and the propagation velocity of both the longitudinal and shear waves are affected by the hose stiffness and Mach number. The results presented in this work can be of great reference to further increase the safety of aerial refueling. Full article