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This paper aims to investigate the potential role of the Emergency Department (ED) layout in enhancing its functionality. It applies a performance-based building design (PBBD) approach to evaluate emergency department functionality and efficiency as the most important criterion behind the success of the hospital service.

A quantitative approach based on space syntax theory was adopted through four syntactic maps (isovist, axial, convex, and visibility graph analysis VGA), to depict three case studies in Erbil city hospitals by analyzing three different layout typologies of ED such as Podular, Ballroom and Linear through measuring wayfinding, accessibility, privacy, visibility, time spend-length of stay and corridor circulation as layout factors.

This paper provides empirical insights on how the ED layout typology factors significantly affect producing functionally efficient EDs, whereas the Ballroom ED layout typology is the most effective compared to others. Given the importance of ED in enhancing a healthy environment for patients and staff, study findings are valuable resource for health designers, who play a critical role in ensuring patients enjoy a healthy and safe environment.

This paper has attempted to identify the appropriate layout of ED for effective functional performance in hospitals. A syntactical analysis between three different ED layout typologies based on the layout variables has been analysed using the PBBD approach. There has been no attempt carried out so far to analyse the functional performance of the PBBD approach in different ED layouts using layout variables.

This paper aims to determine the conditions for the core of the Triple Helix game to exist. The Triple Helix of university-industry-government relationships is a three-person cooperative game with transferable utility. Then, the core, the Shapley value and the nucleolus were used as indicators of the synergy within an innovation system. Whereas the Shapley value and the nucleolus always exist, the core may not.

The core of a three-person cooperative game with transferable utility exists only if and only if the game is convex. The paper applies the convexity condition to the Triple Helix game.

The Triple Helix game is convex if and only if there is output within the system; it is strictly convex if and only if all the three bilateral and the trilateral relationships have an output.

Convex games are competitive situations in which there are strong incentives towards the formation of large coalitions; therefore, innovation actors must cooperate to maximise their interests. Furthermore, a Triple Helix game may be split into subgames for comprehensive analyses and several Triple Helix games may be combined for a global study.

This paper extends the meaning of the Shapley value and the nucleolus for Triple Helix innovation actors: the Shapley value indicates the quantity a player wins because of the coalitions he involves in and the nucleolus the return for solidarity of an innovation actor.

The purpose of this paper is to propose a new velocity prediction navigation algorithm to develop a conflict-free path for robots in dynamic crowded environments. The algorithm BP-prediction and reciprocal velocity obstacle (PRVO) combines the BP neural network for velocity PRVO to accomplish dynamic collision avoidance.

This presented method exhibits innovation by anticipating ahead velocities using BP neural networks to reconstruct the velocity obstacle region; determining the optimized velocity corresponding to the robot’s scalable radius range from the error generated by the non-holonomic robot tracking the desired trajectory; and considering acceleration constraints, determining the set of multi-step reachable velocities of non-holonomic robot in the space of velocity variations.

The method is validated using three commonly used metrics of collision rate, travel time and average distance in a comparison between simulation experiments including multiple differential drive robots and physical experiments using the Turtkebot3 robot. The experimental results show that our method outperforms other RVO extension methods on the three metrics.

In this paper, the authors propose navigation algorithms capable of adaptively selecting the optimal speed for a multi-robot system to avoid robot collisions during dynamic crowded interactions.

The purpose of this chapter is to cover banking efficiency using the concept of the Meta frontier function and to study group and subgroup differences in the production technology. This study estimates the technical efficiency (TE) and technology gap ratios (TGRs) for banks in Islamic countries. Using the assumption of the convex hull of the Meta frontier production set using the virtual Meta frontier within the nonparametric approach as presented by Battese and Rao (2002), Battese et al. (2004), and O'Donnell et al. (2007, 2008) and after relaxing this assumption, the study investigates if there is a significant difference between these two methods. To overcome the deterministic criterion addressed to nonparametric approach, the bootstrapping technique has been applied. The first part of this chapter covers the analytical framework necessary for the definition of a Meta frontier function and its estimation using nonparametric data envelopment analysis (DEA) in the case where we impose the assumption of the convex production set and follows in the case of relaxation of this assumption. Then we estimated the TE and the TGR in concave and nonconcave Meta frontier cases by applying the Bootstrap-DEA approach. The empirical part will be reserved for highlighting these methods on data bank to study the technical and technological performance level and prove if there is a difference between the two methods. Three groups of banks namely commercial, investment, and Islamic banks in 17 Islamic countries over a period of 16 years between 1996 and 2011 are used.

To solve the obstacle detection problem in robot autonomous obstacle negotiation, this paper aims to propose an obstacle detection system based on elevation maps for three types of obstacles: positive obstacles, negative obstacles and trench obstacles.

The system framework includes mapping, ground segmentation, obstacle clustering and obstacle recognition. The positive obstacle detection is realized by calculating its minimum rectangle bounding boxes, which includes convex hull calculation, minimum area rectangle calculation and bounding box generation. The detection of negative obstacles and trench obstacles is implemented on the basis of information absence in the map, including obstacles discovery method and type confirmation method.

The obstacle detection system has been thoroughly tested in various environments. In the outdoor experiment, with an average speed of 22.2 ms, the system successfully detected obstacles with a 95% success rate, indicating the effectiveness of the detection algorithm. Moreover, the system’s error range for obstacle detection falls between 4% and 6.6%, meeting the necessary requirements for obstacle negotiation in the next stage.

This paper studies how to solve the obstacle detection problem when the robot obstacle negotiation.

This paper aims to automatically obtain the implant parameter from the CBCT images to improve the outcome of implant planning.

This paper proposes automatic simulated dental implant positioning on CBCT images, which can significantly improve the efficiency of implant planning. The authors introduce the fusion point calculation method for the missing tooth's long axis and root axis based on the dental arch line used to obtain the optimal fusion position. In addition, the authors proposed a semi-interactive visualization method of implant parameters that be automatically simulated by the authors' method. If the plan does not meet the doctor's requirements, the final implant plan can be fine-tuned to achieve the optimal effect.

A series of experimental results show that the method proposed in this paper greatly improves the feasibility and accuracy of the implant planning scheme, and the visualization method of planting parameters improves the planning efficiency and the friendliness of system use.

The proposed method can be applied to dental implant planning software to improve the communication efficiency between doctors, patients and technicians.

By using higher moments, this paper extends the quadratic local risk-minimizing approach in a general discrete incomplete financial market. The local optimization subproblems are convex or nonconvex, depending on the moment variants used in the modeling. Inspired by Lai et al. (2006), the authors propose a new multiobjective approach for the combination of moments that is transformed into a multigoal programming problem.

The authors evaluate financial derivatives with American features using local risk-minimizing strategies. The financial structure is in line with Schweizer (1988): the market is discrete, self-financing is not guaranteed, but deviations are controlled and reduced by minimizing the second moment. As for the quadratic approach, the algorithm proceeds backwardly.

In the context of evaluating American option, a transposition of this multigoal programming leads not only to nonconvex optimization subproblems but also to the undesirable fact that local zero deviations from self-financing are penalized. The analysis shows that issuers should consider some higher moments when evaluating contingent claims because they help reshape the distribution of global cumulative deviations from self-financing.

A detailed numerical analysis that compares all the moments or some combinations of them is performed.

The quadratic approach is extended by exploring other higher moments, positive combinations of moments and variants to enforce asymmetry. This study also investigates the impact of two types of exercise decisions and multiple assets.

In corridor environments, human-following robot encounter difficulties when the target turning around at the corridor intersections, as walls may cause complete occlusion. This paper aims to propose a collision-free following system for robot to track humans in corridors without a prior map.

In addition to following a target and avoiding collisions robustly, the proposed system calculates the positions of walls in the environment in real-time. This allows the system to maintain a stable tracking of the target even if it is obscured after turning. The proposed solution is integrated into a four-wheeled differential drive mobile robot to follow a target in a corridor environment in real-world.

The experimental results demonstrate that the robot equipped with the proposed system is capable of avoiding obstacles and following a human target robustly in the corridors. Moreover, the robot achieves a 90% success rate in maintaining a stable tracking of the target after the target turns around a corner with high speed.

This paper proposes a human target following system incorporating three novel features: a path planning method based on wall positions is introduced to ensure stable tracking of the target even when it is obscured due to target turns; improvements are made to the random sample consensus (RANSAC) algorithm, enhancing its accuracy in calculating wall positions. The system is integrated into a four-wheeled differential drive mobile robot effectively demonstrates its remarkable robustness and real-time performance.

This paper aims to minimize the mean-risk cost of sustainable and resilient supplier selection, order allocation and production scheduling (SS,OA&PS) problem under uncertainty of disruptions. The authors use conditional value at risk (CVaR) as a risk measure in optimizing the combined objective function of the total expected value and CVaR cost. A sustainable supply chain can create significant competitive advantages for companies through social justice, human rights and environmental progress. To control disruptions, the authors applied (proactive and reactive) resilient strategies. In this study, the authors combine resilience and social responsibility issues that lead to synergy in supply chain activities.

The present paper proposes a risk-averse two-stage mixed-integer stochastic programming model for sustainable and resilient SS,OA&PS problem under supply disruptions. In this decision-making process, determining the primary supplier portfolio according to the minimum sustainable-resilient score establishes the first-stage decisions. The recourse or second-stage decisions are: determining the amount of order allocation and scheduling of parts by each supplier, determining the reactive risk management strategies, determining the amount of order allocation and scheduling by each of reaction strategies and determining the number of products and scheduling of products on the planning time horizon. Uncertain parameters of this study are the start time of disruption, remaining capacity rate of suppliers and lead times associated with each reactive strategy.

In this paper, several numerical examples along with different sensitivity analyses (on risk parameters, minimum sustainable-resilience score of suppliers and shortage costs) were presented to evaluate the applicability of the proposed model. The results showed that the two-stage risk-averse stochastic mixed-integer programming model for designing the SS,OA&PS problem by considering economic and social aspects and resilience strategies is an effective and flexible tool and leads to optimal decisions with the least cost. In addition, the managerial insights obtained from this study are extracted and stated in Section 4.6.

This work proposes a risk-averse stochastic programming approach for a new multi-product sustainable and resilient SS,OA&PS problem. The planning horizon includes three periods before the disruption, during the disruption period and the recovery period. Other contributions of this work are: selecting the main supply portfolio based on the minimum score of sustainable-resilient criteria of suppliers, allocating and scheduling suppliers orders before and after disruptions, considering the balance constraint in receiving parts and using proactive and reactive risk management strategies simultaneously. Also, the scheduling of reactive strategies in different investment modes is applied to this problem.

The purpose of this study is to propose a new mathematical model that integrates strategic decision-making with tactical-operational decision-making in order to optimize production and scheduling decisions.

This study presents a multi-objective optimization framework to make production planning, scheduling and maintenance decisions. An epsilon-constraint method is used to solve small instances of the model, while new hybrid optimization algorithms, including multi-objective particle swarm optimization (MOPSO), non-dominated sorting genetic algorithm, multi-objective harmony search and improved multi-objective harmony search (IMOHS) are developed to address the high complexity of large-scale problems.

The computational results demonstrate that the metaheuristic algorithms are effective in obtaining economic solutions within a reasonable computational time. In particular, the results show that the IMOHS algorithm is able to provide optimal Pareto solutions for the proposed model compared to the other three algorithms.

This study presents a new mathematical model that simultaneously determines green production planning and scheduling decisions by minimizing the sum of the total cost, makespan, lateness and energy consumption criteria. Integrating production and scheduling of a shop floor is critical for achieving optimal operational performance in production planning. To the best of the authors' knowledge, the integration of production planning and maintenance has not been adequately addressed.