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This study aims to analyze the convergence of environmental degradation clubs in the Association of Southeast Asian Nations (ASEAN). In addition, this study also analyzes the influence of renewable energy and foreign direct investment (FDI) on each club as an intervention to change the convergence pattern in each club.

This study analyzes the club convergence of environmental degradation in an effort to find out the distribution of environmental degradation reduction policies. This study uses club convergence with the Phillips and Sul (PS) convergence methodology because it considers multiple steady-states and is robust. This study uses annual panel data from 1998 to 2020 and ASEAN country units with ecological footprints as proxies for environmental degradation. After obtaining the club results, the analysis continued by analyzing the impact of renewable energy and FDI on each club using panel data regression and the Stochastic Impacts by Regression on Population, Affluence and Technology model specification.

Based on club convergence, ASEAN countries can be grouped into three clubs with two divergent countries. Club 1 has an increasing pattern of environmental degradation, while Club 2 and Club 3 show no increase. Club 1 can primarily apply renewable energy to reduce environmental degradation, while Club 2 requires more FDI. The authors expect policymakers to take into account the clubs established to formulate collaborative policies among countries. The result that FDI reduces environmental degradation in this study is in line with the pollution halo hypothesis. This study also found that population has a significant effect on environmental degradation, so policies to regulate population need to be considered. On the other hand, increasing income has no effect on reducing environmental degradation. Therefore, the use of renewable energy and FDI toward green investment is expected to intensify within ASEAN countries to reduce environmental degradation.

This research is by far the first to apply PS Club convergence to environmental degradation in ASEAN. In addition, this study is also the first to analyze the influence of renewable energy and FDI on each club formed, considering the need for renewable energy use that has not been maximized in ASEAN.

For successful management of construction projects, a precise analysis of the balance between time and cost is imperative to attain the most effective results. The aim of this study is to present an innovative approach tailored to tackle the challenges posed by time-cost trade-off (TCTO) problems. This objective is achieved through the integration of the multi-verse optimizer (MVO) with opposition-based learning (OBL), thereby introducing a groundbreaking methodology in the field.

The paper aims to develop a new hybrid meta-heuristic algorithm. This is achieved by integrating the MVO with OBL, thereby forming the iMVO algorithm. The integration enhances the optimization capabilities of the algorithm, notably in terms of exploration and exploitation. Consequently, this results in expedited convergence and yields more accurate solutions. The efficacy of the iMVO algorithm will be evaluated through its application to four different TCTO problems. These problems vary in scale – small, medium and large – and include real-life case studies that possess complex relationships.

The efficacy of the proposed methodology is evaluated by examining TCTO problems, encompassing 18, 29, 69 and 290 activities, respectively. Results indicate that the iMVO provides competitive solutions for TCTO problems in construction projects. It is observed that the algorithm surpasses previous algorithms in terms of both mean deviation percentage (MD) and average running time (ART).

This research represents a significant advancement in the field of meta-heuristic algorithms, particularly in their application to managing TCTO in construction projects. It is noteworthy for being among the few studies that integrate the MVO with OBL for the management of TCTO in construction projects characterized by complex relationships.

A cross-domain intelligent software-defined network (SDN) routing method based on a proposed multiagent deep reinforcement learning (MDRL) method is developed.

First, the network is divided into multiple subdomains managed by multiple local controllers, and the state information of each subdomain is flexibly obtained by the designed SDN multithreaded network measurement mechanism. Then, a cooperative communication module is designed to realize message transmission and message synchronization between the root and local controllers, and socket technology is used to ensure the reliability and stability of message transmission between multiple controllers to acquire global network state information in real time. Finally, after the optimal intradomain and interdomain routing paths are adaptively generated by the agents in the root and local controllers, a network traffic state prediction mechanism is designed to improve awareness of the cross-domain intelligent routing method and enable the generation of the optimal routing paths in the global network in real time.

Experimental results show that the proposed cross-domain intelligent routing method can significantly improve the network throughput and reduce the network delay and packet loss rate compared to those of the Dijkstra and open shortest path first (OSPF) routing methods.

Message transmission and message synchronization for multicontroller interdomain routing in SDN have long adaptation times and slow convergence speeds, coupled with the shortcomings of traditional interdomain routing methods, such as cumbersome configuration and inflexible acquisition of network state information. These drawbacks make it difficult to obtain global state information about the network, and the optimal routing decision cannot be made in real time, affecting network performance. This paper proposes a cross-domain intelligent SDN routing method based on a proposed MDRL method. First, the network is divided into multiple subdomains managed by multiple local controllers, and the state information of each subdomain is flexibly obtained by the designed SDN multithreaded network measurement mechanism. Then, a cooperative communication module is designed to realize message transmission and message synchronization between root and local controllers, and socket technology is used to ensure the reliability and stability of message transmission between multiple controllers to realize the real-time acquisition of global network state information. Finally, after the optimal intradomain and interdomain routing paths are adaptively generated by the agents in the root and local controllers, a prediction mechanism for the network traffic state is designed to improve awareness of the cross-domain intelligent routing method and enable the generation of the optimal routing paths in the global network in real time. Experimental results show that the proposed cross-domain intelligent routing method can significantly improve the network throughput and reduce the network delay and packet loss rate compared to those of the Dijkstra and OSPF routing methods.

Visual feedback control is a promising solution for robots work in unstructured environments, and this is accomplished by estimation of the time derivative relationship between the image features and the robot moving. While some of the drawbacks associated with most visual servoing (VS) approaches include the vision–motor mapping computation and the robots’ dynamic performance, the problem of designing optimal and more effective VS systems still remains challenging. Thus, the purpose of this paper is to propose and evaluate the VS method for robots in an unstructured environment.

This paper presents a new model-free VS control of a robotic manipulator, for which an adaptive estimator aid by network learning is proposed using online estimation of the vision–motor mapping relationship in an environment without the knowledge of statistical noise. Based on the adaptive estimator, a model-free VS schema was constructed by introducing an active disturbance rejection control (ADRC). In our schema, the VS system was designed independently of the robot kinematic model.

The various simulations and experiments were conducted to verify the proposed approach by using an eye-in-hand robot manipulator without calibration and vision depth information, which can improve the autonomous maneuverability of the robot and also allow the robot to adapt its motion according to the image feature changes in real time. In the current method, the image feature trajectory was stable in the camera field range, and the robot’s end motion trajectory did not exhibit shock retreat. The results showed that the steady-state errors of image features was within 19.74 pixels, the robot positioning was stable within 1.53 mm and 0.0373 rad and the convergence rate of the control system was less than 7.21 s in real grasping tasks.

Compared with traditional Kalman filtering for image-based VS and position-based VS methods, this paper adopts the model-free VS method based on the adaptive mapping estimator combination with the ADRC controller, which is effective for improving the dynamic performance of robot systems. The proposed model-free VS schema is suitable for robots’ grasping manipulation in unstructured environments.

The processes of convergence are particularly challenging in the Sub-Saharan African frameworks, considering the diversity of contexts and endogenous particularities. Creating conditions to support these nations to improve their socioeconomic dynamics and performance requires additional contributions from international organisations, governments and the scientific community. In this scenario, this paper aims to analyse the convergence process in Sub-Saharan African countries over the past three decades.

To achieve these objectives, data from the World Bank were considered for the gross domestic product (GDP) per capita over the period 1990–2021. This statistical information was assessed through panel data approaches based on the models from the convergence theory. Specifically, the concepts of sigma and beta convergence were addressed, as well as the concept of catch-up rates.

The findings obtained highlight evidence of the existence of clubs of convergence among the Sub-Saharan African countries and the processes of catching up. These results may be relevant support for the policymakers and international funds and programmes.

This research provides a new perspective on the convergence of GDP per capita in Sub-Saharan African countries, based on an analysis focused on groups of countries identified on the basis of catch-up rates. This approach presents a way of dealing with the different specificities of these nations.

Industry 4.0 and the digital supply chain (DSC) are changing how things are made and moved around the world. This change is all about how smart technologies like the Internet of Things (IoT), artificial intelligence (AI), and blockchain are making supply chains work better. These tools help companies react faster and more clearly to what's needed. By using these new technologies, businesses can get better at guessing what customers want, keeping the right amount of stock, and quickly adjusting to new market trends. With these advanced technologies, companies can see big improvements, like being able to match supply with demand more closely and change their plans fast when things in the market change. It is really important for businesses to get how these tech tools work together as the world of making and selling things keeps changing. This chapter examines the convergence of traditional supply chain systems with Industry 4.0, focusing on the transformative impact of technologies such as the IoT, AI, and blockchain.

The purpose of this paper is to address two major challenges faced by robotic fish when operating in underwater environments: insufficient path planning capabilities and difficulties in avoiding dynamic obstacles. To achieve this, a method is proposed that combines the Improved Rapid Randomized Tree Star (IRRT*) with the dynamic window approach (DWA).

The RRT-connect algorithm is used to determine an initial feasible path quickly. The quality of sampling points is then improved by dividing the regions and selecting each region’s probability based on its fitness value. The fitness function and roulette wheel method are introduced for region selection. Subtarget points of the DWA algorithm are extracted from the IRRT* algorithm to achieve real-time dynamic path planning.

In various maps, the iteration count for the IRRT* algorithm decreased by 61%, 35% and 51% respectively, compared to the RRT* algorithm, whereas the iteration time was reduced by 75%, 34% and 57%, respectively. In addition, the IRRT*-DWA algorithm can successfully navigate through multiple dynamic obstacles, and the average time, path length, etc. do not change much when parameters change, and the stability is high.

A novel IRRT*-DWA algorithm is proposed, which, by refining the sampling strategy and updating sub-target points in real time, not only addresses the limitations of existing algorithms in terms of path planning efficiency in complex environments but also enhances their capability to avoid dynamic obstacles. Ultimately, experimental results indicate a high level of similarity between the actual and ideal paths.

This paper aims to present a novel adaptive sliding mode control (ASMC) method based on the predefined performance barrier function for reusable launch vehicle under attitude constraints and mismatched disturbances.

A novel ASMC based on barrier function is adopted to deal with matched and mismatched disturbances. The upper bounds of the disturbances are not required to be known in advance. Meanwhile, a predefined performance function (PPF) with prescribed convergence time is used to adjust the boundary of the barrier function. The transient performance, including the overshoot, convergence rate and settling time, as well as the steady-state performance of the attitude tracking error are retained in the predetermined region under the barrier function and PPF. The stability of the proposed control method is analyzed via Lyapunov method.

In contrast to conventional adaptive back-stepping methods, the proposed method is comparatively simple and effective which does not need to disassemble the control system into multiple first-order systems. The proposed barrier function based on PPF can adjust not only the switching gain in an adaptive way but also the convergence time and steady-state error. And the efficiency of the proposed method is illustrated by conducting numerical simulations.

A novel barrier function based ASMC method is proposed to fit in the amplitude of the mismatched and matched disturbances. The transient and steady-state performance of attitude tracking error can be selected as prior control parameters.

Simulations exist for the prediction of the behaviour of building structural systems under fire, including two-way coupled fire-structure interaction. However, these simulations do not include detailed models of the connections, whereas these connections may impact the overall behaviour of the structure. Therefore, this paper proposes a two-scale method to include screw connections.

The two-scale method consists of (a) a global-scale model that models the overall structural system and (b) a small-scale model to describe a screw connection. Components in the global-scale model are connected by a spring element instead of a modelled screw, and the stiffness of this spring element is predicted by the small-scale model, updated at each load step. For computational efficiency, the small-scale model uses a proprietary technique to model the behaviour of the threads, verified by simulations that model the complete thread geometry, and validated by existing pull-out experiments. For four screw failure modes, load-deformation behaviour and failure predictions of the two-scale method are verified by a detailed system model. Additionally, the two-scale method is validated for a combined load case by existing experiments, and demonstrated for different temperatures. Finally, the two-scale method is illustrated as part of a two-way coupled fire-structure simulation.

It was shown that proprietary ”threaded connection interaction” can predict thread relevant failure modes, i.e. thread failure, shank tension failure, and pull-out. For bearing, shear, tension, and pull-out failure, load-deformation behaviour and failure predictions of the two-scale method correspond with the detailed system model and Eurocode predictions. Related to combined load cases, for a variety of experiments a good correlation has been found between experimental and simulation results, however, pull-out simulations were shown to be inconsistent.

More research is needed before the two-scale method can be used under all conditions. This relates to the failure criteria for pull-out, combined load cases, and temperature loads.

The two-scale method bridges the existing very detailed small-scale screw models with present global-scale structural models, that in the best case only use springs. It shows to be insightful, for it contains a functional separation of scales, revealing their relationships, and it is computationally efficient as it allows for distributed computing. Furthermore, local small-scale non-convergence (e.g. a screw failing) can be handled without convergence problems in the global-scale structural model.

To provide high torques needed to move a robot’s links, electric actuators are followed by a transmission system with a high transmission rate. For instance, gear ratios of 100:1 are often used in the joints of a robotic manipulator. This results into an actuator with large mechanical impedance (also known as nonback-drivable actuator). This in turn generates high contact forces when collision of the robotic mechanism occur and can cause humans’ injury. Another disadvantage of electric actuators is that they can exhibit overheating when constant torques have to be provided. Comparing to electric actuators, pneumatic actuators have promising properties for robotic applications, due to their low weight, simple mechanical design, low cost and good power-to-weight ratio. Electropneumatically actuated robots usually have better friction properties. Moreover, because of low mechanical impedance, pneumatic robots can provide moderate interaction forces which is important for robotic surgery and rehabilitation tasks. Pneumatic actuators are also well suited for exoskeleton robots. Actuation in exoskeletons should have a fast and accurate response. While electric motors come against high mechanical impedance and the risk of causing injuries, pneumatic actuators exhibit forces and torques which stay within moderate variation ranges. Besides, unlike direct current electric motors, pneumatic actuators have an improved weight-to-power ratio and avoid overheating problems.

The aim of this paper is to analyze a nonlinear optimal control method for electropneumatically actuated robots. A two-link robotic exoskeleton with electropneumatic actuators is considered as a case study. The associated nonlinear and multivariable state-space model is formulated and its differential flatness properties are proven. The dynamic model of the electropneumatic robot is linearized at each sampling instance with the use of first-order Taylor series expansion and through the computation of the associated Jacobian matrices. Within each sampling period, the time-varying linearization point is defined by the present value of the robot’s state vector and by the last sampled value of the control inputs vector. An H-infinity controller is designed for the linearized model of the robot aiming at solving the related optimal control problem under model uncertainties and external perturbations. An algebraic Riccati equation is solved at each time-step of the control method to obtain the stabilizing feedback gains of the H-infinity controller. Through Lyapunov stability analysis, it is proven that the robot’s control scheme satisfies the H-infinity tracking performance conditions which indicate the robustness properties of the control method. Moreover, global asymptotic stability is proven for the control loop. The method achieves fast convergence of the robot’s state variables to the associated reference trajectories, and despite strong nonlinearities in the robot’s dynamics, it keeps moderate the variations of the control inputs.

In this paper, a novel solution has been proposed for the nonlinear optimal control problem of robotic exoskeletons with electropneumatic actuators. As a case study, the dynamic model of a two-link lower-limb robotic exoskeleton with electropneumatic actuators has been considered. The dynamic model of this robotic system undergoes first approximate linearization at each iteration of the control algorithm around a temporary operating point. Within each sampling period, this linearization point is defined by the present value of the robot’s state vector and by the last sampled value of the control inputs vector. The linearization process relies on first-order Taylor series expansion and on the computation of the associated Jacobian matrices. The modeling error which is due to the truncation of higher-order terms from the Taylor series is considered to be a perturbation which is asymptotically compensated by the robustness of the control algorithm. To stabilize the dynamics of the electropneumatically actuated robot and to achieve precise tracking of reference setpoints, an H-infinity (optimal) feedback controller is designed. Actually, the proposed H-infinity controller for the model of the two-link electropneumatically actuated exoskeleton achieves the solution of the associated optimal control problem under model uncertainty and external disturbances. This controller implements a min-max differential game taking place between: (i) the control inputs which try to minimize a cost function which comprises a quadratic term of the state vector’s tracking error and (ii) the model uncertainty and perturbation inputs which try to maximize this cost function. To select the stabilizing feedback gains of this H-infinity controller, an algebraic Riccati equation is being repetitively solved at each time-step of the control method. The global stability properties of the H-infinity control scheme are proven through Lyapunov analysis.

Pneumatic actuators are characterized by high nonlinearities which are due to air compressibility, thermodynamics and valves behavior and thus pneumatic robots require elaborated nonlinear control schemes to ensure their fast and precise positioning. Among the control methods which have been applied to pneumatic robots, one can distinguish differential geometric approaches (Lie algebra-based control, differential flatness theory-based control, nonlinear model predictive control [NMPC], sliding-mode control, backstepping control and multiple models-based fuzzy control). Treating nonlinearities and fault tolerance issues in the control problem of robotic manipulators with electropneumatic actuators has been a nontrivial task.

The novelty of the proposed control method is outlined as follows: preceding results on the use of H-infinity control to nonlinear dynamical systems were limited to the case of affine-in-the-input systems with drift-only dynamics. These results considered that the control inputs gain matrix is not dependent on the values of the system’s state vector. Moreover, in these approaches the linearization was performed around points of the desirable trajectory, whereas in the present paper’s control method the linearization points are related with the value of the state vector at each sampling instance as well as with the last sampled value of the control inputs vector. The Riccati equation which has been proposed for computing the feedback gains of the controller is novel, so is the presented global stability proof through Lyapunov analysis. This paper’s scientific contribution is summarized as follows: (i) the presented nonlinear optimal control method has improved or equally satisfactory performance when compared against other nonlinear control schemes that one can consider for the dynamic model of robots with electropneumatic actuators (such as Lie algebra-based control, differential flatness theory-based control, nonlinear model-based predictive control, sliding-mode control and backstepping control), (ii) it achieves fast and accurate tracking of all reference setpoints, (iii) despite strong nonlinearities in the dynamic model of the robot, it keeps moderate the variations of the control inputs and (iv) unlike the aforementioned alternative control approaches, this paper’s method is the only one that achieves solution of the optimal control problem for electropneumatic robots.

The use of electropneumatic actuation in robots exhibits certain advantages. These can be the improved weight-to-power ratio, the lower mechanical impedance and the avoidance of overheating. At the same time, precise positioning and accurate execution of tasks by electropneumatic robots requires the application of elaborated nonlinear control methods. In this paper, a new nonlinear optimal control method has been developed for electropneumatically actuated robots and has been specifically applied to the dynamic model of a two-link robotic exoskeleton. The benefit from using this paper’s results in industrial and biomedical applications is apparent.

A comparison of the proposed nonlinear optimal (H-infinity) control method against other linear and nonlinear control schemes for electropneumatically actuated robots shows the following: (1) Unlike global linearization-based control approaches, such as Lie algebra-based control and differential flatness theory-based control, the optimal control approach does not rely on complicated transformations (diffeomorphisms) of the system’s state variables. Besides, the computed control inputs are applied directly on the initial nonlinear model of the electropneumatic robot and not on its linearized equivalent. The inverse transformations which are met in global linearization-based control are avoided and consequently one does not come against the related singularity problems. (2) Unlike model predictive control (MPC) and NMPC, the proposed control method is of proven global stability. It is known that MPC is a linear control approach that if applied to the nonlinear dynamics of the electropneumatic robot, the stability of the control loop will be lost. Besides, in NMPC the convergence of its iterative search for an optimum depends on initialization and parameter values selection and consequently the global stability of this control method cannot be always assured. (3) Unlike sliding-mode control and backstepping control, the proposed optimal control method does not require the state-space description of the system to be found in a specific form. About sliding-mode control, it is known that when the controlled system is not found in the input-output linearized form the definition of the sliding surface can be an intuitive procedure. About backstepping control, it is known that it cannot be directly applied to a dynamical system if the related state-space model is not found in the triangular (backstepping integral) form. (4) Unlike PID control, the proposed nonlinear optimal control method is of proven global stability, the selection of the controller’s parameters does not rely on a heuristic tuning procedure, and the stability of the control loop is assured in the case of changes of operating points. (5) Unlike multiple local models-based control, the nonlinear optimal control method uses only one linearization point and needs the solution of only one Riccati equation so as to compute the stabilizing feedback gains of the controller. Consequently, in terms of computation load the proposed control method for the electropneumatic actuator’s dynamics is much more efficient.