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Design of a novel side-mounted leg mechanism with high flexibility for a multi-mission quadruped earth

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 2, doi: 10.1007/s11465-022-0740-0

Abstract: Earth rover is a class of emerging wheeled-leg robots for nature exploration. At present, few methods for these robots’ leg design utilize a side-mounted spatial parallel mechanism. Thus, this paper presents a complete design process of a novel 5-degree-of-freedom (5-DOF) hybrid leg mechanism for our quadruped earth rover BJTUBOT. First, a general approach is proposed for constructing the novel leg mechanism. Subsequently, by evaluating the basic locomotion task (LT) of the rover based on screw theory, we determine the desired motion characteristic of the side-mounted leg and carry out its two feasible configurations. With regard to the synthesis method of the parallel mechanism, a family of concise hybrid leg mechanisms using the 6-DOF limbs and an L_1F1C limb (which can provide a constraint force and a couple) is designed. In verifying the motion characteristics of this kind of leg, we select a typical (3-UPRU&RRRR)&R mechanism and then analyze its kinematic model, singularities, velocity mapping, workspace, dexterity, statics, and kinetostatic performance. Furthermore, the virtual quadruped rover equipped with this innovative leg mechanism is built. Various basic and specific LTs of the rover are demonstrated by simulation, which indicates that the flexibility of the legs can help the rover achieve multitasking.

Keywords： design synthesis parallel mechanism hybrid leg mechanism screw theory quadruped robot

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The mission of engineering management in China

Ren Hong

Strategic Study of CAE 2008, Volume 10, Issue 12, Pages 45-52

Abstract: The paper also proposes the mission of engineering management to achieve a breakthrough development in

Keywords： leading engineering enterprises sustainable development engineering management the mission

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Study on Strategies for Developing Offshore as the New Spaces for Mariculture in China

Mai Kangsen,Xu Hao,Xue Changhu,Gu Weidong,Zhang Wenbing,Li Zhaojie and Yu Bo

Strategic Study of CAE 2016, Volume 18, Issue 3, Pages 90-95 doi: 10.15302/J-SSCAE-2016.03.015

Abstract: On the basis of a strategic concept of the new space for mariculture in China, the present study putsforward strategic missions on the development of offshore mariculture.

Keywords： offshore aquaculture new space problem analysis strategic mission policy suggestion

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China's Latest Moon Mission Returns New Lunar Rocks

Mitch Leslie

Engineering 2021, Volume 7, Issue 5, Pages 544-546 doi: 10.1016/j.eng.2021.03.007

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DART Mission Shows Potential for Planetary Defense by Smashing Asteroid into New Orbit

Chris Palmer

Engineering 2023, Volume 24, Issue 5, Pages 7-9 doi: 10.1016/j.eng.2023.03.002

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Continuous Efforts to Fulfill the Historical Mission of China’s Industrialization and Modernization

宋健

Strategic Study of CAE 2002, Volume 4, Issue 7, Pages 1-5

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The Mission is Possible: Fighting Sugar and Fat for a Healthier Heart

Baofeng Yang, Rui Wang

Engineering 2023, Volume 20, Issue 1, Pages 1-2 doi: 10.1016/j.eng.2022.10.003

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Strategic Reflection on Promoting Energy Revolution of Production and Consumption in China

The Research Group of “Strategic Research on Promoting Energy Revolution of Production and Consumption

Strategic Study of CAE 2015, Volume 17, Issue 9, Pages 11-17

Abstract:

Energy is an important basis for the sustained and sound development of Chinese economy and society. Energy revolution of production and consumption is the only way to promote China’s development. As a national development strategy of promoting energy revolution of production and consumption, it has been gradually implementing. This paper indicates the significance of driving energy revolution of production and consumption from the perspective of the relationship between energy, economy and society. It elaborates the background of China’s energy revolution, and analyzes the major issues which affect the energy revolution through the historical experience of developed countries. Finally it proposes strategies for energy revolution based on current situation, in order to provide reference and support for energy revolution in China.

Keywords： energy revolution economy and society sustainable development major issues strategic measure

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Applying system dynamics to strategic decision making in construction

SangHyun LEE

Frontiers of Engineering Management 2017, Volume 4, Issue 1, Pages 35-40 doi: 10.15302/J-FEM-2017002

Abstract: The author discusses the application of System Dynamics to high-level strategic simulation in constructionFrom this exercise, it is concluded that System Dynamics offers a great potential for strategic simulationcomprehensive simulation framework that integrates System Dynamics and Discrete Event Simulation for a strategic

Keywords： strategic project management construction management system dynamics feedback process hybrid simulation

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Identification of Critical Success Factors for Construction Innovation: From the Perspective of Strategic

Hui Liu,Meng-jun Wang,Miroslaw J. Skibniewski,Ji-shan He,Zhen-sen Zhang

Frontiers of Engineering Management 2014, Volume 1, Issue 2, Pages 202-209 doi: 10.15302/J-FEM-2014027

Abstract: based cooperation not only focuses inside the boundary of project, but also emphasizes the long-term strategicto explore the Critical Success Factors (CSFs) of construction innovation based on the viewpoint of strategic

Keywords： critical success factors construction innovation identification strategic cooperation

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Strategic Conception of Carbon Neutralization in Coal Industry

Yuan Liang

Strategic Study of CAE 2023, Volume 25, Issue 5, Pages 103-110 doi: 10.15302/J-SSCAE-2023.05.009

Abstract: China’s basic national conditions and regional characteristics, this study elaborates the strategic

Keywords： coal industry carbon neutrality clean and efficient utilization coupling of coal and clean energy strategic

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Optimal pricing of perishable goods under strategic consumers

Chen Xiaohong,Yi Guodong and Cheng Lulu

Strategic Study of CAE 2015, Volume 17, Issue 1, Pages 120-128

Abstract:

With access to information is becoming more and more convenient and quick， the strategic behaviorIn this paper， we study the optimal pricing of perishable goods in the presence of strategic customersThe strategic behavior of customers has a significant impact on the profits of a seller.time sensitivity of customers through proper inventory and price setting to reduce losses from the strategic

Keywords： perishable goods； strategic consumers； optimal pricing； Stackelberg game

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Development Strategy of Marine Engineering and Technology Power

Task Force for the Study on Development Strategy of China’s Marine Engineering and Technology Comprehensive Research Group

Strategic Study of CAE 2016, Volume 18, Issue 2, Pages 1-9 doi: 10.15302/J-SSCAE-2016.02.001

Abstract: This paper puts forward a development strategy and mission through consultation and investigation inresources, marine environment and land-sea interactions, and systematic analysis of the opportunities and strategic

Keywords： marine engineering and technology power development strategy and mission recommended policy implementing

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Study on Extension Strategic Tactical Planning

Yang Chunyan,Zhang Yongjun

Strategic Study of CAE 2002, Volume 4, Issue 10, Pages 73-78

Abstract:

Extension Strategic Tactics Planning (ESTP), based upon the science of extenics, is established alongthe techniques, used in case of contradiction to tackle such problems as how to generate the ideas of strategic

Keywords： extension strategic tactical planning contradictory problem extension method idea generation extension

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Strategic Management of Large Projects

Wang Yingluo,Liu Yi,Li Yuan

Strategic Study of CAE 2004, Volume 6, Issue 2, Pages 28-32

Abstract:

The strategic management of large projects is both theoretically and practically important.Strategic flexibility and flexible strategy, and the basic system and characteristics of flexible strategycoupled with the changes of flexible strategy and integration of strategic management are discussed

Keywords： flexible strategy strategic management large projects