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The present paper aims to address challenges associated with path planning and obstacle avoidance in mobile robotics. It introduces a pioneering solution called the Bi-directional Adaptive Enhanced A* (BAEA*) algorithm, which uses a new bidirectional search strategy. This approach facilitates simultaneous exploration from both the starting and target nodes and improves the efficiency and effectiveness of the algorithm in navigation environments. By using the heuristic knowledge A*, the algorithm avoids unproductive blind exploration, helps to obtain more efficient data for identifying optimal solutions. The simulation results demonstrate the superior performance of the BAEA* algorithm in achieving rapid convergence towards an optimal action strategy compared to existing methods.

The paper adopts a careful design focusing on the development and evaluation of the BAEA* for mobile robot path planning, based on the reference [18]. The algorithm has remarkable adaptability to dynamically changing environments and ensures robust navigation in the context of environmental changes. Its scale further enhances its applicability in large and complex environments, which means it has flexibility for various practical applications. The rigorous evaluation of our proposed BAEA* algorithm with the Bidirectional adaptive A* (BAA*) algorithm [18] in five different environments demonstrates the superiority of the BAEA* algorithm. The BAEA* algorithm consistently outperforms BAA*, demonstrating its ability to plan shorter and more stable paths and achieve higher success rates in all environments.

The paper adopts a careful design focusing on the development and evaluation of the BAEA* for mobile robot path planning, based on the reference [18]. The algorithm has remarkable adaptability to dynamically changing environments and ensures robust navigation in the context of environmental changes. Its scale further enhances its applicability in large and complex environments, which means it has flexibility for various practical applications. The rigorous evaluation of our proposed BAEA* algorithm with the Bi-directional adaptive A* (BAA*) algorithm [18] in five different environments demonstrates the superiority of the BAEA* algorithm.

The rigorous evaluation of our proposed BAEA* algorithm with the BAA* algorithm [18] in five different environments demonstrates the superiority of the BAEA* algorithm. The BAEA* algorithm consistently outperforms BAA*, demonstrating its ability to plan shorter and more stable paths and achieve higher success rates in all environments.

The originality of this paper lies in the introduction of the bidirectional adaptive enhancing A* algorithm (BAEA*) as a novel solution for path planning for mobile robots. This algorithm is characterized by its unique characteristics that distinguish it from others in this field. First, BAEA* uses a unique bidirectional search strategy, allowing to explore the same path from both the initial node and the target node. This approach significantly improves efficiency by quickly converging to the best paths and using A* heuristic knowledge. In particular, the algorithm shows remarkable capabilities to quickly recognize shorter and more stable paths while ensuring higher success rates, which is an important feature for time-sensitive applications. In addition, BAEA* shows adaptability and robustness in dynamically changing environments, not only avoiding obstacles but also respecting various constraints, ensuring safe path selection. Its scale further increases its versatility by seamlessly applying it to extensive and complex environments, making it a versatile solution for a wide range of practical applications. The rigorous assessment against established algorithms such as BAA* consistently shows the superior performance of BAEA* in planning shorter paths, achieving higher success rates in different environments and cementing its importance in complex and challenging environments. This originality marks BAEA* as a pioneering contribution, increasing the efficiency, adaptability and applicability of mobile robot path planning methods.

The purpose of the paper is to propose and demonstrate a novel approach for addressing the challenges of path planning and obstacle avoidance in the context of mobile robots (MR). The specific objectives and purposes outlined in the paper include: introducing a new methodology that combines Q-learning with dynamic reward to improve the efficiency of path planning and obstacle avoidance. Enhancing the navigation of MR through unfamiliar environments by reducing blind exploration and accelerating the convergence to optimal solutions and demonstrating through simulation results that the proposed method, dynamic reward-enhanced Q-learning (DRQL), outperforms existing approaches in terms of achieving convergence to an optimal action strategy more efficiently, requiring less time and improving path exploration with fewer steps and higher average rewards.

The design adopted in this paper to achieve its purposes involves the following key components: (1) Combination of Q-learning and dynamic reward: the paper’s design integrates Q-learning, a popular reinforcement learning technique, with dynamic reward mechanisms. This combination forms the foundation of the approach. Q-learning is used to learn and update the robot’s action-value function, while dynamic rewards are introduced to guide the robot’s actions effectively. (2) Data accumulation during navigation: when a MR navigates through an unfamiliar environment, it accumulates experience data. This data collection is a crucial part of the design, as it enables the robot to learn from its interactions with the environment. (3) Dynamic reward integration: dynamic reward mechanisms are integrated into the Q-learning process. These mechanisms provide feedback to the robot based on its actions, guiding it to make decisions that lead to better outcomes. Dynamic rewards help reduce blind exploration, which can be time-consuming and inefficient and promote faster convergence to optimal solutions. (4) Simulation-based evaluation: to assess the effectiveness of the proposed approach, the design includes a simulation-based evaluation. This evaluation uses simulated environments and scenarios to test the performance of the DRQL method. (5) Performance metrics: the design incorporates performance metrics to measure the success of the approach. These metrics likely include measures of convergence speed, exploration efficiency, the number of steps taken and the average rewards obtained during the robot’s navigation.

The findings of the paper can be summarized as follows: (1) Efficient path planning and obstacle avoidance: the paper’s proposed approach, DRQL, leads to more efficient path planning and obstacle avoidance for MR. This is achieved through the combination of Q-learning and dynamic reward mechanisms, which guide the robot’s actions effectively. (2) Faster convergence to optimal solutions: DRQL accelerates the convergence of the MR to optimal action strategies. Dynamic rewards help reduce the need for blind exploration, which typically consumes time and this results in a quicker attainment of optimal solutions. (3) Reduced exploration time: the integration of dynamic reward mechanisms significantly reduces the time required for exploration during navigation. This reduction in exploration time contributes to more efficient and quicker path planning. (4) Improved path exploration: the results from the simulations indicate that the DRQL method leads to improved path exploration in unknown environments. The robot takes fewer steps to reach its destination, which is a crucial indicator of efficiency. (5) Higher average rewards: the paper’s findings reveal that MR using DRQL receive higher average rewards during their navigation. This suggests that the proposed approach results in better decision-making and more successful navigation.

The paper’s originality stems from its unique combination of Q-learning and dynamic rewards, its focus on efficiency and speed in MR navigation and its ability to enhance path exploration and average rewards. These original contributions have the potential to advance the field of mobile robotics by addressing critical challenges in path planning and obstacle avoidance.

Testing business processes is crucial to assess the compliance of business process models with requirements. Automating this task optimizes testing efforts and reduces human error while also providing improvement insights for the business process modeling activity. The primary purposes of this paper are to conduct a literature review of Business Process Model and Notation (BPMN) testing and formal verification and to propose the Business Process Evaluation and Research Framework for Enhancement and Continuous Testing (bPERFECT) framework, which aims to guide business process testing (BPT) research and implementation. Secondary objectives include (1) eliciting the existing types of testing, (2) evaluating their impact on efficiency and (3) assessing the formal verification techniques that complement testing.

The methodology used is based on Kitchenham's (2004) original procedures for conducting systematic literature reviews.

Results of this study indicate that three distinct business process model testing types can be found in the literature: black/gray-box, regression and integration. Testing and verification approaches differ in aspects such as awareness of test data, coverage criteria and auxiliary representations used. However, most solutions pose notable hindrances, such as BPMN element limitations, that lead to limited practicality.

The databases selected in the review protocol may have excluded relevant studies on this topic. More databases and gray literature could also be considered for inclusion in this review.

Three main originality aspects are identified in this study as follows: (1) the classification of process model testing types, (2) the future trends foreseen for BPMN model testing and verification and (3) the bPERFECT framework for testing business processes.

The purpose of this paper is to provide a guiding framework for studying the travel patterns of PT users. The combination of public transit (PT) users’ travel data and user profiling (UP) technology to draw a portrait of PT users can effectively understand users’ travel patterns, which is important to help optimize the scheduling of PT operations and planning of the network.

To achieve the purpose, the paper presents a three-level classification method to construct the labeling framework. A station area attribute mining method based on the term frequency-inverse document frequency weighting algorithm is proposed to determine the point of interest attributes of user travel stations, and the spatial correlation patterns of user travel stations are calculated by Moran’s Index. User travel feature labels are extracted from travel data containing Beijing PT data for one consecutive week.

In this paper, a universal PT user labeling system is obtained and some related methods are conducted including four categories of user-preferred travel area patterns mining and a station area attribute mining method. In the application of the Beijing case, a precise exploration of the spatiotemporal characteristics of PT users is conducted, resulting in the final Beijing PTUP system.

This paper combines UP technology with big data analysis techniques to study the travel patterns of PT users. A user profile label framework is constructed, and data visualization, statistical analysis and K-means clustering are applied to extract specific labels instructed by this system framework. Through these analytical processes, the user labeling system is improved, and its applicability is validated through the analysis of a Beijing PT case.

This study aims to investigate how Living Labs of Van Hall Larenstein UAS perform as sustainability-oriented, transdisciplinary learning environments. It shows how the sustainable development goals (SDGs) can be used as a compass and debates the sustainability impact of applied research.

A case study approach was adopted, including a literature review, scoping visits, online workshops and peer-to-peer inter-vision/learning, using the SDGs as a compass and framework for analysis.

Most Living Labs use a “silo-approach” on the SDGs and are designed from a technological-expert perspective. This results in blind spots, particularly on SDGs related to reducing socio-economic inequality and just institutions. Debating unsustainable systems, cultures and practices is avoided. To contribute to sustainability transitions, universities need to invest in developing transformative capacity. This refers to SDG-transition competences such as collaborative communication, constructively engaging with diversity and conflicts, discussing values, norms and ethics and encouraging reflexivity.

Mainly lecturer-researchers were involved in the study. COVID-19 travel restrictions hindered the research at the grassroots level in India and Indonesia.

The study revealed the importance of creating Living Labs as safe and brave inter- and transdisciplinary learning environments to practice reflexivity: encouraging students, researchers and stakeholders to look at sustainability issues from plural perspectives and questioning unsustainable practices, which combined lead to changing perceptions, practices and relations and a deeper understanding of how change happens. The SDGs as a compass method supports reflexivity among stakeholders and in redirecting strategies towards a sustainable future.

The Agents of Change program is a two-year, project-based learning program to develop Extension Professionals’ capacity to engage in Adaptive and Transformative Leadership. Its primary goal is to develop the capacity of Extension Professionals to engage in leadership to create more diverse, equitable, inclusive and just Extension programs and community change initiatives. This manuscript describes the program and an initial evaluation and results.

Results of an evaluation of the first year of the program indicate that regular training sessions and support are appropriate for leadership development and that Extension Professionals are using the learning, awareness and tools from this program to address challenges with Adaptive and Transformative Leadership elements. Also, Extension professionals demonstrated commitment to personal growth, community engagement and understanding of their multifaceted roles as change agents.

Participants are sharing resources from the program with colleagues, leading meetings differently, questioning the status quo and pushing others to try new ways forward.

The purpose of this study results and recommendations will have a paramount significance for policymakers, policy advocates, development planners and practitioners who may be in need of such information for reconsideration, evaluation and inclusion into their respective development and humanitarian programming and operational strategies. Above all, the study result has further provided the local community with viable adaptation strategies to climate-induced changes in the study area.

This study was conducted to measure the livelihood vulnerability of Borana pastoralists to climate change and variability in southern Ethiopia. Pastoralists’ households were sampled using multistage sampling techniques. A total of 27 socio-economic and biophysical indicators were used to reflect vulnerability components: adaptive capacity, exposure and sensitivity. Principal component analysis was used to develop weights for indicators and to produce livelihood vulnerability index to classify households according to their level of vulnerability. Ordinal logistic regression was used to identify the determinants of vulnerability to climate-induced stresses.

The results showed that 24.4% of households were highly vulnerable, 60.3% were moderately vulnerable and 15.3% of households were less vulnerable to climate-induced stresses. Factor estimates of the logistic model further revealed that early warning information, bush encroachment, coping strategy, temperature, drought frequency, provision of humanitarian services and food shortage during the normal season of the year have a significant influence on vulnerability in the study area.

The study’s results and recommendations will be of great significance to policymakers, development planners, and practitioners who require such information for reconsideration, evaluation, and inclusion in their respective development and humanitarian program and operational strategies. Most importantly, the study’s findings have provided the local community with practical adaptation strategies to climate-induced changes in the study area.

The study explored pastoralist perception of climate change and variability and measured the livelihood vulnerability of pastoralists’ households to climate change and variability and finally investigated viable adaptation and coping strategies in the study area.

The application of circular building adaptability (CBA) in adaptive reuse becomes an effective action for resource efficiency, long-lasting usability of the built environment and the sped-up transition to a circular economy (CE). This paper aims to explore to which extent CBA-related strategies are applied in adaptive reuse projects, considering enablers and obstacles.

A stepwise theory-practice-oriented approach was followed. Multiple-case studies of five circular adaptive reuse projects in The Netherlands were investigated, using archival research and in-depth interviews. A cross-case analysis of the findings was deductively conducted, to find and replicate common patterns.

The study revealed that configuration flexibility, product dismantlability and material reversibility were applied across the case studies, whereas functional convertibility and building maintainability were less applied. Low cost of material reuse, collaboration among team members and organisational motivation were frequently observed enabling factors. Lack of information, technical complexities, lack of circularity expertise and infeasibility of innovative circular solutions were frequently observed obstacles to applying CBA.

This paper provides practitioners with a set of CBA strategies that have been applied in the real world, facilitating the application of CBA in future adaptive reuse projects. Moreover, this set of strategies provides policymakers with tools for developing supportive regulations or amending existing regulations for facilitating CE through adaptive reuse.

This study provides empirical evidence on the application of CBA in different real-life contexts. It provides scholars and practitioners with a starting point for further developing guiding or decision-making tools for CBA in adaptive reuse.

This study aims to investigate the adaptation strategies they practice and the factors that influence their use of adaptation strategies.

The mixed-method sequential explanatory design was used to triangulate the data collected. Multistage sampling was used to select 400 sampled households for household surveys. Eight focus groups, each with eight to ten participants, and 24 key informants, were specifically chosen based on their farming experiences. Chi-square tests, one-way ANOVA and a binary logit model were used to analyze the data.

The majority of farmers used simple and low-cost adaptation strategies like changing planting dates, selling livestock and off-farm and nonfarm work. A minority of farmers used advanced adaptation strategies like crop diversification and water harvesting for irrigation. The result further revealed that: the age of the household head, educational status of household heads, farm size, livestock ownership, farming experiences, household income, access to credit and access to climate information significantly influenced the adoption of the adaptation strategies. Public policy should provide water harvesting and irrigation technology, climate-related information and the provision of microcredit facilities to enhance the farmers’ resilience to climate change risks.

Although several studies on climate change adaptation strategies are available, this paper is one of the few studies focusing on a particular agro-ecological zone, an essential precursor to dealing with current and projected climate change in the area. It provides helpful insights for developing successful adaptation policies that improve adaptive capacity and agricultural sustainability in southern Ethiopia’s lowlands.

This study investigates information flow of market constituents and global indices at multi-frequencies.

The study’s findings were obtained using the Improved Complete Ensemble Empirical Mode Decomposition with Adaptive Noise (I-CEEMDAN)-based cluster analysis executed for Rényi effective transfer entropy (RETE).

The authors find that significant negative information flows among sustainability equities (SEs) and conventional equities (CEs) at most multi-frequencies, which exacerbates diversification benefits. The information flows are mostly bi-directional, highlighting the importance of stock markets' constituents and their global indices in portfolio construction.

The authors advocate that both SE and CE markets are mostly heterogeneous, revealing some levels of markets inefficiencies.

The empirical literature on CEs is replete with several dynamics, revealing their returns behaviour for diversification purposes, leaving very little to know about the returns behaviour of SE. Wherein, an avalanche of several initiatives on Corporate Social Responsibility (CSR) enjoin firms to operate socially responsible, but investors need to have a clear reason to remain sustainable into the foreseeable future period. Accordingly, the humble desire of investors is the formation of a well-diversified portfolio and would highly demand stocks to the extent that they form a reliable portfolio, especially, amid SEs and/or CEs.

本研究擬審查多頻率的及為市場成份的信息流和全球指數。

研究人員使用基於改良完全集合經驗模態分解自適應噪聲(Improved Complete Ensemble Empirical Mode Decomposition with Adaptive Noise)的聚類分析法,取得Rényi有效轉移熵,藉此得到研究結果。

我們發現、於大部份多頻率,在持續性股票和傳統股票間有顯著的負信息流動,這會增加多樣化的益處。這些信息流大部份是雙向的,這強調了股票市場成份及其全球指數在構建投資組合上的重要性。

我們認為持續性股票市場和傳統股票市場大多為異質市場,這顯示了市場的低效率,而且這低效率的程度頗大。

關於傳統股票的實證性文獻裡是充滿了變革動力的,這顯示了它們以多樣化為目的的回報行為。這使我們對關於持續性股票的回報行為、認識變得實在太少了。於此,大量的企業社會責任的新措施不斷提醒各公司、要本著企業社會責任的理念去營運;但投資者需清晰明白他們為何需在可見的將來保持可持續性。因此,他們卑微的願望是一個較好的多樣化投資組合得以形成,故此他們高度要求股票要有組成可靠投資組合的性質和能力,特別是在持續性股票和/或傳統股票當中。