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Enhancing the terrain adaptability of a multirobot cooperative transportation system via novel connectors and optimized cooperative strategies

《机械工程前沿（英文）》 2023年第18卷第3期 doi: 10.1007/s11465-023-0754-2

摘要： Given limited terrain adaptability, most existing multirobot cooperative transportation systems (MRCTSs) mainly work on flat pavements, restricting their outdoor applications. The connectors’ finite deformation capability and the control strategies’ limitations are primarily responsible for this phenomenon. This study proposes a novel MRCTS based on tracked mobile robots (TMRs) to improve terrain adaptability and expand the application scenarios of MRCTSs. In structure design, we develop a novel 6-degree-of-freedom passive adaptive connector to link multiple TMRs and the transported object (the communal payload). In addition, the connector is set with sensors to measure the position and orientation of the robot with respect to the object for feedback control. In the control strategy, we present a virtual leader–physical follower collaborative paradigm. The leader robot is imaginary to describe the movement of the entire system and manage the follower robots. All the TMRs in the system act as follower robots to transport the object cooperatively. Having divided the whole control structure into the leader robot level and the follower robot level, we convert the motion control of the two kinds of robots to trajectory tracking control problems and propose a novel double closed-loop kinematics control framework. Furthermore, a control law satisfying saturation constraints is derived to ensure transportation stability. An adaptive control algorithm processes the wheelbase uncertainty of the TMR. Finally, we develop a prototype of the TMR-based MRCTS for experiments. In the trajectory tracking experiment, the developed MRCTS with the proposed control scheme can converge to the reference trajectory in the presence of initial tracking errors in a finite time. In the outdoor experiment, the proposed MRCTS consisting of four TMRs can successfully transport a payload weighing 60 kg on an uneven road with the single TMR’s maximum load limited to 15 kg. The experimental results demonstrate the effectiveness of the structural design and control strategies of the TMR-based MRCTS.

关键词： multirobot system cooperative transportation terrain adaptability trajectory tracking collaborative paradigm uneven road

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Experience inheritance from famous specialists based on real-world clinical research paradigm of traditional

null

《医学前沿（英文）》 2014年第8卷第3期页码 300-309 doi: 10.1007/s11684-014-0357-8

摘要：

The current modes of experience inheritance from famous specialists in traditional Chinese medicine (TCM) include master and disciple, literature review, clinical-epidemiology-based clinical research observation, and analysis and data mining via computer and database technologies. Each mode has its advantages and disadvantages. However, a scientific and instructive experience inheritance mode has not been developed. The advent of the big data era as well as the formation and practice accumulation of the TCM clinical research paradigm in the real world have provided new perspectives, techniques, and methods for inheriting experience from famous TCM specialists. Through continuous exploration and practice, the research group proposes the innovation research mode based on the real-world TCM clinical research paradigm, which involves the inheritance and innovation of the existing modes. This mode is formulated in line with its own development regularity of TCM and is expected to become the main mode of experience inheritance in the clinical field.

关键词： traditional Chinese medicine (TCM) real world clinical research paradigm famous specialist experience inheritance

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An application of game theory in distributed collaborative decision making

Angran XIAO

《机械工程前沿（英文）》 2019年第14卷第1期页码 85-101 doi: 10.1007/s11465-019-0523-4

摘要： In a distributed product realization environment, new paradigms and accompanying software systems are necessary to support the collaborative work of geographically dispersed engineering teams from different disciplines who have different knowledge, experience, tools and resources. To verify the concept of collaboration by separation, we propose a generic information communication medium to enable knowledge representation and exchange between engineering teams, a digital interface. Across digital interfaces, each engineering team maintains its own perspective towards the product realization problem, and each controls a subset of design variables and seeks to maximize its own payoff function subject to individual constraints. Hence, we postulate the use of principles from game theory to model the relationships between engineering teams and facilitate collaborative decision making without causing unnecessary information exchange or iteration across digital interfaces. A product design and manufacturing scenario is introduced to demonstrate the efficacy of using game theory to maintain a clean interface between design and manufacturing teams.

关键词： collaboration distributed product realization game theory digital interface

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IN2CLOUD: A novel concept for collaborative management of big railway data

Jing LIN, Uday KUMAR

《工程管理前沿（英文）》 2017年第4卷第4期页码 428-436 doi: 10.15302/J-FEM-2017048

摘要： In the EU Horizon 2020 Shift2Rail Multi-Annual Action Plan, the challenge of railway maintenance is generating knowledge from data and/or information. Therefore, we promote a novel concept called “IN2CLOUD,” which comprises three sub-concepts, to address this challenge: 1) A hybrid cloud, 2) an intelligent cloud with hybrid cloud learning, and 3) collaborative management using asset-related data acquired from the intelligent hybrid cloud. The concept is developed under the assumption that organizations want/need to learn from each other (including domain knowledge and experience) but do not want to share their raw data or information. IN2CLOUD will help the movement of railway industry systems from “local” to “global” optimization in a collaborative way. The development of cutting-edge intelligent hybrid cloud-based solutions, including information technology (IT) solutions and related methodologies, will enhance business security, economic sustainability, and decision support in the field of intelligent asset management of railway assets.

关键词： railway intelligent asset management collaborative learning big data hybrid cloud Bayesian

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Collaborative adoption of blockchain technology: A supply chain contract perspective

《工程管理前沿（英文）》页码 121-142 doi: 10.1007/s42524-022-0239-8

摘要： The outbreak of COVID-19 has significantly affected the development of enterprises. In the post-pandemic era, blockchain technology has become one of the important technologies to help enterprises quickly gain market competitiveness. The heavy investment required of supply chain stakeholders to employ blockchain technology has hindered its adoption and application. To tackle this issue, this study aims to facilitate the adoption of blockchain technology in a supply chain consisting of a core enterprise and a small/medium-sized enterprise through an effective supply chain contract. We analyze the performance of a cost-sharing (CS) contract and a revenue-sharing (RS) contract and propose a new hybrid CS-RS contract for better performance. We conduct comparative analyses of the three contracts and find that the hybrid CS-RS contract can more effectively incentivize both parties to reach the highest level of blockchain technology adoption and achieve supply chain coordination.

关键词： blockchain collaborative adoption cost sharing revenue sharing hybrid contract

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Study on affecting factors of collaborative product development based on collaboration hierarchy model

ZHANG Xiaodong, LI Yingzi, ZHANG Zhiqiang

《机械工程前沿（英文）》 2007年第2卷第2期页码 210-213 doi: 10.1007/s11465-007-0036-4

摘要： Aiming at the levels of collaborative degree in web-based product development, a collaboration hierarchy model of this product development is developed in this paper. Based on the model, the affecting factors on collaboration levels are analyzed systematically from many aspects, such as technology, organization and business. A gap analysis method is studied in detail, and is applied in a real project. The application shows that it can solve the diverse problems of collaborative product development effectively, and help enterprises find out the critical factors that affect the collaboration.

关键词： development web-based business collaborative collaboration hierarchy

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社会计算下的协作学习 None

Ricardo S. ALONSO, Javier PRIETO, Óscar GARCÍA, Juan M. CORCHADO

《信息与电子工程前沿（英文）》 2019年第20卷第2期页码 265-282 doi: 10.1631/FITEE.1700840

摘要：技术的引入使得教育创新极大地丰富起来，从而形成新的学习模型，其中，信息来自于多源，协作在学生之间产生。教育创新中一个有吸引力的挑战在于从社会计算视角设计协作学习活动，这里的协作不限于学生之间，也包括学生与机器的交互。与此同时，现阶段极其缺少工具，为学习的全过程而非学习任务的某些方面提供支持。为此，本文提出并评估支持协作学习的上下文感知构架（CAFCLA）。CAFCLA是一个覆盖协作学习全过程活动开发的灵活架构，可以利用上下文信息和社交互动。应用于某个博物馆的一个协作式WebQuest实验案例表明，使用社会计算可以改善学习过程，促进协作，增强关系，增加参与度。

关键词：上下文感知；协作学习；社会计算；虚拟组织；无线传感器网络；实时定位系统

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Basic model study on efficiency evaluation in collaborative design work process

XIE Qiu, YANG Yu, LI Xiaoli, ZHAO Ningyu

《机械工程前沿（英文）》 2007年第2卷第3期页码 344-349 doi: 10.1007/s11465-007-0060-4

摘要： During the efficiency evaluation process of collaborative design work, because of the lack of efficiency evaluation models, a basic analytical model for collaborative design work efficiency evaluation is proposed in this paper. First, the characteristics of the networked collaborative design system work process were studied; then, in accordance with those characteristics, a basic analytical model is created. This model, which is built for centralized collaborative design work, includes an analytical frame, a process view model, a function view model and an information view model. Finally, the application process and steps of this basic analytical model are elaborated when used for efficiency evaluation through an experiment.

关键词： function system work evaluation process efficiency evaluation design work

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采用新范式优化碳中和的实现路径

黄文来, 李静海

《工程（英文）》 2021年第7卷第12期页码 1678-1679 doi: 10.1016/j.eng.2021.09.005

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Design and analysis of a class of redundant collaborative manipulators with 2-dimension large rotational

Xiaodong JIN, Yuefa FANG, Dan ZHANG, Xueling LUO

《机械工程前沿（英文）》 2020年第15卷第1期页码 66-80 doi: 10.1007/s11465-019-0570-x

摘要： The parallel spindle heads with high rotational capability are demanded in the area of multi-axis machine tools and 3D printers. This paper focuses on designing a class of 2R1T (R: Rotation; T: Translation) parallel spindle heads and the corresponding collaborative 5-axis manipulators with 2-dimension (2D) large rotational angles. In order to construct 2D rotational degrees of freedom (DOF), a platform with 2-dimension revolute joints is proposed first. Based on the constraint screw theory, the feasible limbs that can be connected in the platform are synthesized. In order to provide constant rotational axis for the platform, a class of redundant limbs are designed. A class of redundant 2R1T parallel spindle heads is obtained by connecting the redundant limbs with the platform and the redundant characteristics are verified by the modified Grübler-Kutzbach criterion. The corresponding 5-axis collaborative manipulators are presented by constructing a 2-DOF series translational bottom moving platform. The inverse kinematics and the orientation workspace as well as the decoupling characteristics of this type of 2R1T parallel spindle heads are analyzed. The results show that these manipulators have large 2D rotational angles than the traditional A3/Z3 heads and can be potentially used in the application of multi-axis machine tools and the 3D printers.

关键词： parallel mechanism redundant mechanism large rotational angles machine tools 2R1T spindle head collaborative manipulator

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轮胎动力学协同发展策略研究

郭孔辉,卢荡,吴海东

《中国工程科学》 2018年第20卷第1期页码 91-96 doi: 10.15302/J-SSCAE-2018.01.013

摘要：

在汽车及飞机的自主发展中，轮胎动力学是个重要瓶颈。本文对比了国内外轮胎动力学的发展状况，指出面临当前愈加激烈的国际竞争，我国轮胎动力学的发展存在较大挑战。笔者在分析了轮胎动力学测试、仿真及应用技术的特点后，提出了协同发展我国轮胎动力学的策略及建议。

关键词：轮胎动力学汽车飞机协同发展策略

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Semantics for linking data from 4D BIM to digital collaborative support

Calin BOJE, Veronika BOLSHAKOVA, Annie GUERRIERO, Sylvain KUBICKI, Gilles HALIN

《工程管理前沿（英文）》 2022年第9卷第1期页码 104-116 doi: 10.1007/s42524-020-0111-7

摘要： Synchronous collaboration sessions within the context of 4D BIM position construction professionals into a complex socio–technical system. This system includes hardware, software, people, and broader community aspects. This article strictly focuses on the ontology representation of synchronous collaboration sessions with collocated collective decision-making. The model is designed by considering various 4D BIM model uses while a digital multiuser touch table facilitates the collaboration between actors. The outlined ontological model aims to improve interoperability and to move toward a knowledge-driven, smart-built environment paradigm. A knowledge engineering methodology is outlined, by virtue of which the semantics of the presented model are defined and discussed. Concepts from nearby knowledge fields, especially from the Industry Foundation Classes, are reused. Several examples on querying the knowledge base according to the project meeting requirements are outlined to demonstrate the benefits of using the model. Although 4D BIM model data can be imported by using standard formats, capturing data about the social context remains a challenge in the future. This is expected to change the ontology model structure by considering user ergonomics, data modeling requirements, as well as technical implementation constraints.

关键词： 4D BIM ontology IFC decision-making linked data collaboration planning

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Identifying stakeholders’ roles and relevant project documents for 4D-based collaborative decision making

Veronika BOLSHAKOVA, Annie GUERRIERO, Gilles HALIN

《工程管理前沿（英文）》 2020年第7卷第1期页码 104-118 doi: 10.1007/s42524-019-0041-4

摘要： To fully understand and effectively implement 4D building information modelling (BIM) models and methods, we need to develop a precise knowledge of which project digital documents should be used and how they influence the decision-making (DM) process. This article studies the convergence between uses of 4D BIM and digital project documents. We hypothesize that a clear visualization of the construction simulation through a 4D model is a useful source of information and a support for DM at collaborative meetings. Through this research, we continue to progress toward a new 4D-based collective decision device, so these elements will contribute to propose 4D BIM as DM support on architecture engineering construction (AEC) projects. Further, the present research will be complemented by results from questionnaires given at a later research stage. The article presents a brief review of BIM context to consider ways of fostering the implementation of all 4D BIM uses (not only visualization). It then introduces a proposition for 4D BIM uses implementation by the project development phase. It concludes by summarizing stakeholders’ roles and documents relevant to 4D BIM uses.

关键词： BIM 4D BIM 4D BIM use AEC project management collaboration decision making

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Methodological challenges to human medical study

null

《医学前沿（英文）》 2014年第8卷第3期页码 328-336 doi: 10.1007/s11684-014-0359-6

摘要：

With the transformation of modern medicinal pattern, medical studies are confronted with methodological challenges. By analyzing two methodologies existing in the study of physical matter system and information system, the article points out that traditional Chinese medicine (TCM), especially the treatment based on syndrome differentiation, embodies information conception of methodological positions, while western medicine represents matter conception of methodological positions. It proposes a new way of thinking about combination of TCM and western medicine by combinating two kinds of methodological methods.

关键词： medical paradigm traditional Chinese medicine western medicine scientific view scientific methodology