To improve the friction and wear performance of the piston-cylinder liner friction pair, inspired by earthworms and leeches, 27 kinds of pistons with cylindrical pit arrays are designed and processed. Through a friction test, four superior textured pistons are optimized, and wear, life and thermal imaging tests are performed. Finite element analysis of the friction pair model is performed, and the friction and wear mechanisms are discussed. The results show that the pistons with cylindrical pit arrays have excellent friction and wear performance, less heat generation by friction, longer lives and less scratches on the cylinder liner. The temperature of the optimized textured pistons was reduced by around 5–10 °C. The wear amount of some textured pistons was reduced by over 50%, resulting in an improvement in their lifespan of at least 30% or more. The results of the finite element analysis indicate that the textured piston exhibited reduced deformation and favorable stress–strain distribution and satisfied the required contact pressure.

This study presents a comprehensive three-dimensional finite element modeling and parametric analysis of composite beam-to-column joints in steel–timber composite structures. The investigation encompassed a variety of shear connector configurations, end plate designs, and bolt dimensions, aiming to elucidate their respective influences on the structural performance and behavior of these joints. Through meticulous numerical simulation, this research sought to enhance the understanding of the interactions and load transfer mechanisms within composite connections, thereby contributing to the optimization of design practices in the field of structural engineering. The load–displacement relationship for timber–steel composite joints subjected to monotonic loading was investigated using ABAQUS 6.14 software. This study systematically analyzed the effects of various parameters, including different configurations of shear connectors, end plate thicknesses, and bolt dimensions, on the overall performance of the joints. Through this comprehensive numerical analysis, the research aimed to provide deeper insights into the mechanical behavior and structural integrity of these composite connections under the applied loading conditions. A non-linear finite element model of timber was developed and verified with the results of the experiment in this study. The findings are discussed in detail, highlighting the intricate relationships between the selected parameters and their respective effects on the performance and overall stability of the composite connections. This thorough evaluation aimed to enhance the understanding of how these variables interact within the context of composite joint design and behavior. Finally, design recommendations for composite structures, such as the dimensions of the bolt, end plate thickness, and different sizes of shear connectors are provided.

Quadruped robots, with their biomimetic structure, are capable of stable locomotion in complex terrains and are vital in rescue, exploration, and military applications. However, developing multi-modal robots that feature simple motion control while adapting to diverse amphibious environments remains a significant challenge. These robots need to excel at obstacle-crossing, waterproofing, and maintaining stability across various locomotion modes. To address these challenges, this paper introduces a novel leg–fin integrated propulsion mechanism for a bionic quadruped robot, utilizing rapidly advancing soft materials and integrated molding technologies. The robot’s motion is modeled and decomposed using an improved central pattern generator (CPG) control network. By leveraging the control characteristics of the CPG model, global control of the single-degree-of-freedom drive mechanism is achieved, allowing smooth transitions between different motion modes. The design is verified through simulations conducted in the Webots environment. Finally, a physical prototype of the quadruped compliant robot is constructed, and experiments are carried out to test its walking, turning, and obstacle-crossing abilities in various environments. The experimental results demonstrate that the robot shows a significant speed advantage in regions where land and water meet, reaching a maximum speed of 1.03 body lengths per second (bl/s).

Objective: The prediction of upcoming circular walking during linear walking is important for the usability and safety of the interaction between a lower limb assistive device and the wearer. This study aims to build a bilateral elimination rule-based finite class Bayesian inference system (BER-FC-BesIS) with the ability to predict the transition between circular walking and linear walking using inertial measurement units. Methods: Bilateral motion data of the human body were used to improve the recognition and prediction accuracy of BER-FC-BesIS. Results: The mean predicted time of BER-FC-BesIS in predicting the left and right lower limbs’ upcoming steady walking activities is 119.32 ± 9.71 ms and 113.75 ± 11.83 ms, respectively. The mean time differences between the predicted time and the real time of BER-FC-BesIS in the left and right lower limbs’ prediction are 14.22 ± 3.74 ms and 13.59 ± 4.92 ms, respectively. The prediction accuracy of BER-FC-BesIS is 93.98%. Conclusion: Upcoming steady walking activities (e.g., linear walking and circular walking) can be accurately predicted by BER-FC-BesIS innovatively. Significance: This study could be helpful and instructional to improve the lower limb assistive devices’ capabilities of walking activity prediction with emphasis on non-linear walking activities in daily living.