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The purpose of this paper is to propose a smooth double-spline interpolation method for six-degree-of-freedom rotational robot manipulators, achieving the global C2 continuity of the robot trajectory.

This paper presents a smooth double-spline interpolation method, achieving the global C2 continuity of the robot trajectory. The tool center positions and quaternion orientations are first fitted by a cubic B-spline curve and a quartic-polynomial-based quaternion spline curve, respectively. Then, a parameter synchronization model is proposed to realize the synchronous and smooth movement of the robot along the double spline curves. Finally, an extra u-s function is used to record the relationship between the B-spline parameter and its arc length parameter, which may reduce the feed rate fluctuation in interpolation. The seven segments jerk-limited feed rate profile is used to generate motion commands for algorithm validation.

The simulation and experimental results demonstrate that the proposed method is effective and can generate the global C2-continuity robot trajectory.

The main contributions of this paper are as follows: guarantee the C2 continuity of the position path and quaternion orientation path simultaneously; provide a parameter synchronization model to realize the synchronous and smooth movement of the robot along the double spline curves; and add an extra u-s function to realize arc length parameterization of the B-spline path, which may reduce the feed rate fluctuation in interpolation.

The main objective of this study is to examine the impact of audit data analytics (ADA) on audit quality (AQ) and audit review continuity (ARC).

Using 452 CPAs in Thailand as samples, mail questionnaires were used and sent to collect the data. Descriptive analysis, correlation matrix and path analysis were used to analyze the data.

The results of this study indicated that audit data analytics had a positive impact on AQ and ARC. Cybersecurity, used as a moderator in this study, was found to be the interaction between ADA, AQ and review continuity.

Auditors and audit firms can consider using big data in their data analytics to improve AQ and ARC.

Resource advantage theory has been used in this study to explain the impact of ADA on AQ and ARC in Thailand.

Coronavirus disease 2019 (COVID-19) led most companies to redefine their sales channels, pushing toward e-Commerce. This increase in the online sales of products resulted in significant pressure on the logistics sector. The purpose of this paper is to investigate how express couriers responded to the pandemic period and allowed for business continuity.

A multiple case study involving five express couriers was conducted. Collected information was coded, then a framework is proposed to discuss the results with the support of the resource-based view and dynamic capabilities view concepts.

The study highlights how couriers leveraged most of their resources to respond to the pandemic threat. Four recurrent continuity enablers to foster the reconfiguration of resources were identified. Specifically, the study points out the key role of employees, digital technologies, visibility and knowledge as enablers that played a crucial role toward continuity. In addition, valuable lessons learned by practitioners to foster resilience in future disruption are highlighted.

Concerning academia, the present research aims to be among the first ones to provide empirical and practical insights on the impact of COVID-19 among express couriers. Considering practitioners, it identifies lessons learned that could be applied to the sector in future disruption.

The study aims to analyze for the Spanish context the influence of the involvement of several generations in the firm's management on family firm internationalization. The authors also respond to the call in the literature to consider the influence of SEW on family firm internationalizations by analyzing the moderating effect of the importance family managers attach to each of the socioemotional wealth (SEW) dimensions – enrichment, continuity and prominence on the relationship between multiple generations involved in management and family firm internationalization.

The information was obtained by means of a questionnaire sent to the CEOs of family businesses. The authors’ sample consists of 147 Spanish family firms.

The authors find that the involvement of multiple generations in management is positively related to the internationalization of family firms. Furthermore, the importance that family CEOs attribute to the enrichment dimension of SEW reduces the intensity of the effect of the involvement of several generations in management on family firm internationalization.

The authors’ results, for the Spanish context, complement previous studies (Meneses et al., 2014) showing that the entry of new generations into the family business opens a window of opportunity for the internationalization of the family business. Furthermore, their study shows that the diverse family objectives by CEOs can have different, even conflicting effects on the internationalization decision. These results suggest that the enrichment dimension, which focuses on the short-term family goals may restrain the internationalization of the family business. However, continuity and prominence dimensions, which are related with long term family objectives and jointly enable the fulfillment of nonfamily stakeholders’ objectives, do not influence the internationalization of the family firms analyzed.

This paper aims to scrutinize and analyze the continuity and change in US foreign policy toward the Gulf region, with a comparison between the George W. Bush and Barack Obama administrations. Also, it explores the nature of the changes in US foreign policy toward the Gulf region to explain the factors that lead to change and when this change occurs. Policymakers were one of the most important factors that led to the occurrence of change in US policy. Therefore, the study also focuses on decision-makers as an engine of change in foreign policy. In this vein, the study seeks to answer the following question: what is the extent of continuity and change in US foreign policy toward the Gulf region under both Bush and Obama administrations?

The study seeks to answer its research question by using the rational choice approach. This approach explains that foreign policy does not change because of change of leadership. Therefore, this approach is suitable to study the research question.

The study reached several points of results, the most important of which are as follows: there is continuity within US foreign policy toward the Gulf countries under the two Bush and Obama administrations. Despite the difference of mechanisms of implementing this foreign policy under both administrations, the objectives of the US foreign policy are still constant and continuous. For example, although the events of September led to the occurrence of tensions between the USA and the Gulf region, the repercussions of the events of September were ostensible where the effects were confined to a change in tactical objectives. Also, successive American administrations have recognized the USA’s enduring and salient interests in the Gulf region.

The region is important as a source of US energy supplies as a strategic military base of operations and also as a site of US foreign policy influence through relationship with individual nations such as Saudi Arabia and the smaller states of the Gulf Cooperation Council.

This paper adds to the existing literature which charts the effects of US foreign policy on the Gulf region.

In March 2020, with only two working days’notice the French national education system went online due to the coronavirus pandemic. This study explores the relationship between the move to distance learning, the teaching practices employed and the socio-economic context of the learners in French schools during this period. We ask how far the changes in teaching practices during the coronavirus crisis were influenced by the social context of teaching. And to what extent this context influenced the focus of the pedagogical continuity those teachers set up.

A review of the literature situates the study within the field of mathematics teaching practices. The study was carried out through a multidimensional analysis using multiple correspondences of the responses of 368 French secondary school mathematics teachers to an online questionnaire.

We found that the unprepared move to distance learning impeded the employment of dialogic practices. The socio-economic situation of the teaching was identified as a determining factor in the teachers' different interpretations of the term pedagogical continuity. Whilst those working in more deprived areas tended towards practices which focused on maintaining pupils' links with school, consolidation of knowledge and providing social/affective support, those teaching a more privileged public favoured tools and practices which allowed them to focus on the disciplinary content of their teaching.

The challenge of maintaining dialogic activities – teacher education to combat inequalities.

A quantitative study of mathematics teachers providing pedagogical continuity through distance learning for the duration of the crisis.

This study aims to elucidate the process and internal mechanism of place identity construction in traditional villages under the impact of tourism by taking Cuandixia village as a case. The research methods comprise participatory observation and in-depth interviews with the residents. The main results are as follows: the impact of tourism on traditional villages is mainly reflected in space reconstruction, livelihood change, social relations restructuring and culture change; under the impact of tourism, the representation of residents’ identity construction shows complexity, with positive and negative effects; and the place identity construction of residents affects their perception of and attitudes toward tourism. Moreover, self-esteem and self-efficacy principles play a key role in their perception of tourism. This study provides some reference for further investigation of the tourism development model and the mental mechanism of residents in traditional villages.

This special issue reveals how lesson study in China continues to serve as a powerful platform to support change in teaching. The papers included in this issue explore how university faculty members and researchers support teachers to cross boundaries resulting from the introduction of key competencies-based (hexin suyang 核心素养) curriculum reform (KCR).

The theme of continuity and change is examined against the backdrop of Chinese lesson study's (CLS's) consistent supporting role in enabling curriculum reform. These analyses make use of concepts involved in understanding boundary crossing, such as using boundary objects and their roles, to help make sense of the new theories, tools, and resources as well as relationships engendered in responding to the reform's demand. While recognizing the continuity at play in Chinese LS, the authors use the lens of learning at the boundary of research-practice partnerships (RPPs) (Farrell et al., 2022) to contemplate the future of CLS.

The papers touch on three major themes: (1) the role of university-school partnerships in meeting the new demands of key competencies reform; (2) resourceful tools, strategies and structures to support boundary crossing for teachers; and (3) roles and relationships for mutual learning in university-school partnerships. Together these three themes, considered across the papers in this issue, point to the need to redefine CLS to engender versatility and hybridity and to enlist mutual learning relationships in future university-school partnerships. Such redefinition positions lesson study to both continue and change.

The papers in this issue are expected to promote mutualist learning in future CLS research-practice partnerships. To do so, research needs to move from focusing on change of a single case teacher to clarifying what experts and teachers each learn from the LS and from each other. Attention also needs to focus on the collaborative discourse and ways such discourse is able to promote mutual learning, emotional support in facing change as well as critical and constructive problem solving.

Practically, to better support boundary crossing, this special issue encourages academics and teachers to identify and work around boundary objects and their enabling features to enhance knowledge and identity of both university and teacher participants for more effective research-practice partnerships.

This special issue offers a pioneering set of studies that contributes to an in-depth understanding of how CLS is supporting the current competencies-based reform in China. It also provides concrete future directions for research and practice to enhance university-school partnerships' response to reform.