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This paper aims to propose a dynamic parameter identification method based on sensitivity analysis for the 5-degree of freedom (DOF) hybrid robots, to solve the problems of too many identification parameters, complex model, difficult convergence of optimization algorithms and easy-to-fall into a locally optimal solution, and improve the efficiency and accuracy of dynamic parameter identification.

First, the dynamic parameter identification model of the 5-DOF hybrid robot was established based on the principle of virtual work. Then, the sensitivity of the parameters to be identified is analyzed by Sobol’s sensitivity method and verified by simulation. Finally, an identification strategy based on sensitivity analysis was designed, experiments were carried out on the real robot and the results were verified.

Compared with the traditional full-parameter identification method, the dynamic parameter identification method based on sensitivity analysis proposed in this paper converges faster when optimized using the genetic algorithm, and the identified dynamic model has higher prediction accuracy for joint drive forces and torques than the full-parameter identification models.

This work analyzes the sensitivity of the parameters to be identified in the dynamic parameter identification model for the first time. Then a parameter identification method is proposed based on the results of the sensitivity analysis, which can effectively reduce the parameters to be identified, simplify the identification model, accelerate the convergence of the optimization algorithm and improve the prediction accuracy of the identified model for the joint driving forces and torques.

With the continuous growth of online education, the quality issue of online educational videos has become increasingly prominent, causing students in online learning to face the dilemma of knowledge confusion. The existing mechanisms for controlling the quality of online educational videos suffer from subjectivity and low timeliness. Monitoring the quality of online educational videos involves analyzing metadata features and log data, which is an important aspect. With the development of artificial intelligence technology, deep learning techniques with strong predictive capabilities can provide new methods for predicting the quality of online educational videos, effectively overcoming the shortcomings of existing methods. The purpose of this study is to find a deep neural network that can model the dynamic and static features of the video itself, as well as the relationships between videos, to achieve dynamic monitoring of the quality of online educational videos.

The quality of a video cannot be directly measured. According to previous research, the authors use engagement to represent the level of video quality. Engagement is the normalized participation time, which represents the degree to which learners tend to participate in the video. Based on existing public data sets, this study designs an online educational video engagement prediction model based on dynamic graph neural networks (DGNNs). The model is trained based on the video’s static features and dynamic features generated after its release by constructing dynamic graph data. The model includes a spatiotemporal feature extraction layer composed of DGNNs, which can effectively extract the time and space features contained in the video's dynamic graph data. The trained model is used to predict the engagement level of learners with the video on day T after its release, thereby achieving dynamic monitoring of video quality.

Models with spatiotemporal feature extraction layers consisting of four types of DGNNs can accurately predict the engagement level of online educational videos. Of these, the model using the temporal graph convolutional neural network has the smallest prediction error. In dynamic graph construction, using cosine similarity and Euclidean distance functions with reasonable threshold settings can construct a structurally appropriate dynamic graph. In the training of this model, the amount of historical time series data used will affect the model’s predictive performance. The more historical time series data used, the smaller the prediction error of the trained model.

A limitation of this study is that not all video data in the data set was used to construct the dynamic graph due to memory constraints. In addition, the DGNNs used in the spatiotemporal feature extraction layer are relatively conventional.

In this study, the authors propose an online educational video engagement prediction model based on DGNNs, which can achieve the dynamic monitoring of video quality. The model can be applied as part of a video quality monitoring mechanism for various online educational resource platforms.

A distinctive feature of tilt-rotor UAVs is that they can be fully actuated, whereas in fixed-angle rotor UAVs (e.g. common-type quadrotors, octorotors, etc.), the associated dynamic model is characterized by underactuation. Because of the existence of more control inputs, in tilt-rotor UAVs, there is more flexibility in the solution of the associated nonlinear control problem. On the other side, the dynamic model of the tilt-rotor UAVs remains nonlinear and multivariable and this imposes difficulty in the drone's controller design. This paper aims to achieve simultaneously precise tracking of trajectories and minimization of energy dissipation by the UAV's rotors. To this end elaborated control methods have to be developed.

A solution of the nonlinear control problem of tilt-rotor UAVs is attempted using a novel nonlinear optimal control method. This method is characterized by computational simplicity, clear implementation stages and proven global stability properties. At the first stage, approximate linearization is performed on the dynamic model of the tilt-rotor UAV with the use of first-order Taylor series expansion and through the computation of the system's Jacobian matrices. This linearization process is carried out at each sampling instance, around a temporary operating point which is defined by the present value of the tilt-rotor UAV's state vector and by the last sampled value of the control inputs vector. At the second stage, an H-infinity stabilizing controller is designed for the approximately linearized model of the tilt-rotor UAV. To find the feedback gains of the controller, an algebraic Riccati equation is repetitively solved, at each time-step of the control method. Lyapunov stability analysis is used to prove the global stability properties of the control scheme. Moreover, the H-infinity Kalman filter is used as a robust observer so as to enable state estimation-based control. The paper's nonlinear optimal control approach achieves fast and accurate tracking of reference setpoints under moderate variations of the control inputs. Finally, the nonlinear optimal control approach for UAVs with tilting rotors is compared against flatness-based control in successive loops, with the latter method to be also exhibiting satisfactory performance.

So far, nonlinear model predictive control (NMPC) methods have been of questionable performance in treating the nonlinear optimal control problem for tilt-rotor UAVs because NMPC's convergence to optimum depends often on the empirical selection of parameters while also lacking a global stability proof. In the present paper, a novel nonlinear optimal control method is proposed for solving the nonlinear optimal control problem of tilt rotor UAVs. Firstly, by following the assumption of small tilting angles, the state-space model of the UAV is formulated and conditions of differential flatness are given about it. Next, to implement the nonlinear optimal control method, the dynamic model of the tilt-rotor UAV undergoes approximate linearization at each sampling instance around a temporary operating point which is defined by the present value of the system's state vector and by the last sampled value of the control inputs vector. The linearization process is based on first-order Taylor series expansion and on the computation of the associated Jacobian matrices. The modelling error, which is due to the truncation of higher-order terms from the Taylor series, is considered to be a perturbation that is asymptotically compensated by the robustness of the control scheme. For the linearized model of the UAV, an H-infinity stabilizing feedback controller is designed. To select the feedback gains of the H-infinity controller, an algebraic Riccati equation has to be repetitively solved at each time-step of the control method. The stability properties of the control scheme are analysed with the Lyapunov method.

There are no research limitations in the nonlinear optimal control method for tilt-rotor UAVs. The proposed nonlinear optimal control method achieves fast and accurate tracking of setpoints by all state variables of the tilt-rotor UAV under moderate variations of the control inputs. Compared to past approaches for treating the nonlinear optimal (H-infinity) control problem, the paper's approach is applicable also to dynamical systems which have a non-constant control inputs gain matrix. Furthermore, it uses a new Riccati equation to compute the controller's gains and follows a novel Lyapunov analysis to prove global stability for the control loop.

There are no practical implications in the application of the nonlinear optimal control method for tilt-rotor UAVs. On the contrary, the nonlinear optimal control method is applicable to a wider class of dynamical systems than approaches based on the solution of state-dependent Riccati equations (SDRE). The SDRE approaches can be applied only to dynamical systems which can be transformed to the linear parameter varying (LPV) form. Besides, the nonlinear optimal control method performs better than nonlinear optimal control schemes which use approximation of the solution of the Hamilton–Jacobi–Bellman equation by Galerkin series expansions. The stability properties of the Galerkin series expansion-based optimal control approaches are still unproven.

The proposed nonlinear optimal control method is suitable for using in various types of robots, including robotic manipulators and autonomous vehicles. By treating nonlinear control problems for complicated robotic systems, the proposed nonlinear optimal control method can have a positive impact towards economic development. So far the method has been used successfully in (1) industrial robotics: robotic manipulators and networked robotic systems. One can note applications to fully actuated robotic manipulators, redundant manipulators, underactuated manipulators, cranes and load handling systems, time-delayed robotic systems, closed kinematic chain manipulators, flexible-link manipulators and micromanipulators and (2) transportation systems: autonomous vehicles and mobile robots. Besides, one can note applications to two-wheel and unicycle-type vehicles, four-wheel drive vehicles, four-wheel steering vehicles, articulated vehicles, truck and trailer systems, unmanned aerial vehicles, unmanned surface vessels, autonomous underwater vessels and underactuated vessels.

The proposed nonlinear optimal control method is a novel and genuine result and is used for the first time in the dynamic model of tilt-rotor UAVs. The nonlinear optimal control approach exhibits advantages against other control schemes one could have considered for the tilt-rotor UAV dynamics. For instance, (1) compared to the global linearization-based control schemes (such as Lie algebra-based control or flatness-based control), it does not require complicated changes of state variables (diffeomorphisms) and transformation of the system's state-space description. Consequently, it also avoids inverse transformations which may come against singularity problems, (2) compared to NMPC, the proposed nonlinear optimal control method is of proven global stability and the convergence of its iterative search for an optimum does not depend on initialization and controller's parametrization, (3) compared to sliding-mode control and backstepping control the application of the nonlinear optimal control method is not constrained into dynamical systems of a specific state-space form. It is known that unless the controlled system is found in the input–output linearized form, the definition of the associated sliding surfaces is an empirical procedure. Besides, unless the controlled system is found in the backstepping integral (triangular) form, the application of backstepping control is not possible, (4) compared to PID control, the nonlinear optimal control method is of proven global stability and its performance is not dependent on heuristics-based selection of parameters of the controller and (5) compared to multiple-model-based optimal control, the nonlinear optimal control method requires the computation of only one linearization point and the solution of only one Riccati equation.

Operational performance is critical for the banking sector for both managers and other stakeholders as it strongly affects the overall performance of the banking system. Traditional performance measures such as ratio analysis encountered certain shortcomings. At this juncture, data envelopment analysis (DEA) approaches are increasingly applied in bank efficiency studies. However, basic DEA models ignored the interactions between consecutive terms and focused primarily on measuring performance independently for each study period. All this is required to develop an operational performance model that can enable the long-term decision model.

An attempt has been made to develop a dynamic DEA within a non-radial category to measure interconnection activities considering non-performing loans as an undesirable link. This study uses the Indian banking dataset from 2015 to 2019. The study's research design directs three directions: ‘comparison of the dynamic DEA with the traditional static DEA model, areas of inefficiencies that are investigated for each factor using the factor efficiency index and the robustness results highlighting the performance difference between bank categories.'

Comparing with static DEA results, the study confirms that the dynamic model best measures long-term operational performance due to the linkage between consecutive terms. The efficiency analysis concludes that the input factor that requires the most improvement is ‘fixed assets' and ‘deposits'. The output factor that needs the most progress is ‘non-interest income'. The robustness of the developed model is proven by ownership categories present within the Indian banking system. At a significance level of 10%, the result of both the separate and dynamic model for privately owned banks is significantly better than that of publicly owned banks.

This paper proposes an operational efficiency model for Indian banks in line with undesirable output. The mean factor efficiency analysis related to non-radial DEA modelling enhances managerial flexibilities in determining improvement initiatives.

Within the context of an open innovation business environment, the frequent interaction and coordination activities among heterogeneous partners have a significant impact on enterprises' business model. Nevertheless, fewer empirical research has been made to explore how to match external partners and update organizational dynamic capabilities at an ecosystem level. Therefore, this paper attempts not only to investigate the direct impact of partner match on different business model innovation (BMI) themes (efficiency-centered BMI and novelty-centered BMI) but only to shed light on the pivotal mediating role of interfirm dynamic capabilities.

This paper utilized the methodology of Partial Least Squares Structural Equation Modeling (PLS-SEM) to investigate the impact of diverse partner selection criteria and interfirm dynamic capabilities on two distinctive themes of BMI. More than 20 industry clusters with multiple industries were selected as representatives of the creative ecosystem, predominantly from the Yangtze River Delta region. Valid data were collected from 254 managers by both online questionnaires and offline interviews.

The findings of the study show that different partner match criteria have distinct direct impacts on BMI themes. Partner complementary and partner synergy, deriving from the “task-related criteria”, are significantly correlated with both EBMI and NBMI. Conversely, partner compatibility, deriving from “Partnering-related Criteria”, shows a positive correlation with EBMI but not NBMI. Furthermore, compare the indirect effect on EBMI, the paper’ results demonstrate interfirm dynamic capabilities as mediator can more maximize external benefits to promote NBMI.

The study findings effectively help enterprises implement different BMI themes. From a management perspective, whether pursuing EBMI or NBMI, enterprises should consciously seek partners who can provide complementary support or share mutual goals across diverse industries. This strategic approach can significantly enhance the opportunities for sustainable and innovative business development. Furthermore, to successfully accomplish NBMI, enterprises must cultivate interfirm dynamic capabilities encompassing a comprehensive range of cross-organizational innovation capacities, such as bolstering organizational learning capability, establishing interactive network platforms to enhance coordination capabilities and engaging in integrative activities to foster a collective mindset.

This paper contributes to the match theory by introducing three critical matching criteria, enabling enterprises to discern partners based on diverse organizational characteristics. Additionally, this paper broadens the scope of the dynamic capability literature by adopting a network perspective to strengthen interaction and relationship mechanisms. The authors primarily elucidate the concept of interfirm dynamic capabilities as a formative higher-order model formed by three sub-capabilities (absorptive capacity, coordination capability and collective mind). Finally, this paper combines matching theory with dynamic capacity theory to the field of BMI, which adds depth and complexity to the existing ecosystem innovation research.

The development of the digital age has made data and information more transparent, enhancing the strategic perspectives of both buyers (strategic waiting) and sellers (price fluctuations) in their decision-making. This research investigates the optimal dynamic pricing strategy of the content product developer in relation to their consideration of consumer fairness concerns to elucidate the impact of consumer fairness concerns on the dynamic pricing strategy of the developer.

This paper assumes that monopolistic content developers implement a dynamic pricing strategy for the content product. Through constructing a two-period dynamic pricing game model, this research investigates the optimal decisions of the content developer, contingent upon their consideration or disregard of consumer fairness concerns. In the extension section, the authors additionally account for the influence of myopic consumers on these optimal decisions.

Our findings reveal that the degree of consumer fairness concerns significantly influences the developer’s optimal dynamic pricing decision. When a developer offers content products with lower depth, there is a propensity for the developer to refrain from incorporating consumer fairness concerns into a dynamic pricing strategy. Conversely, in cases where the developer offers a high-depth content product, consumer fairness concerns benefit the developer. Furthermore, our analysis reveals a consistent benefit for the developer from the inclusion of myopic consumers.

Few studies have delved into the conjoined influence of consumer fairness concerns and strategic behavior on dynamic pricing strategy. Our findings indicate that consumer fairness concerns can enhance the efficiency of the value chain for content products under specific conditions. This paper not only enriches the existing literature on dynamic pricing by incorporating consumer fairness concerns theoretically but also offers practical insights. The outcomes of this research can guide content product developers in devising optimal dynamic pricing strategies.

To proactively draw efficient maintenance plans, road agencies should be able to forecast main road distress parameters, such as cracking, rutting, deflection and International Roughness Index (IRI). Nonetheless, the behavior of those parameters throughout pavement life cycles is associated with high uncertainty, resulting from various interrelated factors that fluctuate over time. This study aims to propose the use of dynamic Bayesian belief networks for the development of time-series prediction models to probabilistically forecast road distress parameters.

While Bayesian belief network (BBN) has the merit of capturing uncertainty associated with variables in a domain, dynamic BBNs, in particular, are deemed ideal for forecasting road distress over time due to its Markovian and invariant transition probability properties. Four dynamic BBN models are developed to represent rutting, deflection, cracking and IRI, using pavement data collected from 32 major road sections in the United Arab Emirates between 2013 and 2019. Those models are based on several factors affecting pavement deterioration, which are classified into three categories traffic factors, environmental factors and road-specific factors.

The four developed performance prediction models achieved an overall precision and reliability rate of over 80%.

The proposed approach provides flexibility to illustrate road conditions under various scenarios, which is beneficial for pavement maintainers in obtaining a realistic representation of expected future road conditions, where maintenance efforts could be prioritized and optimized.

This research studies the development of the evolving dynamic system model and explores the important elements or factors and what detailed attributes are the main influences model in achieving the success of a business, industry and management. It also identifies the real and major differences between static and dynamic business management models and the detailed factors that influence them. Later, this research investigates the benefits/advantages and limitations/disadvantages of some research studies. The studies conducted in this research put more emphasis on the capabilities of system dynamics (SD) in modeling and the ability to measure, analyse and capture problems in business, industry, manufacturing etc.

The research presented in this work is a qualitative research based on a literature review. Publicly available research publications and reports have been used to create a research foundation, identify the research gaps and develop new analyses from the comparative studies. As the literature review progressed, the scope of the literature search was further narrowed down to the development of SD models. Often, references to certain selected literature have been examined to find other relevant literature. To do so, a supporting tool (that connects related articles) provided by Google Scholar, Scopus, and particular journals has been used.

The dynamic business and management model is very different from the static business model in complexity, formality, flexibility, capturing, relationships, advantages, innovation model, new goals, updated information, perspective and problem-solving abilities. The initial approach of a static system was applied in the canvas business model, but further developments can be continued with a dynamic system approach.

Based on this study, which shows that businesses are developing more towards digitalisation, wanting the ability to keep up with the era that is moving so fast and the desire to increase profits, an instrument is needed that can help describe the difficulties of the needs and developments of the future world. This instrument, or tool of SD, is also expected to assist in drawing future models and in building a business with complex variables that can be predicted from the beginning.

This study will contribute to the SD study for many business incubator research studies. Many practical in business incubator management to have a benefit how to achieve the business performance management (BPM) in SD review.

The significant differences between static and dynamics to be used for business research and strategic performance management. This comparative study analyses some SD models from many authors worldwide. Their goals behind their strategic business models and encounter for their respective progress.

Selecting and scheduling optimal project portfolio simultaneously is a complex decision-making problem faced by organizations to realize the strategy. However, dynamic synergy relationships among projects complicate this problem. This study aims at constructing a project portfolio selection and scheduling (PPSS) model while quantifying the dynamic synergetic effects to provide decision support for managing PPSS problems.

This study develops a mathematical model for PPSS with the objective of maximal project portfolio benefits (PPBs). To make the results align with the strategy, comprehensive PPBs are divided into financial and non-financial aspects based on the balanced scorecard. Then, synergy benefits evolve dynamically in the time horizon, and system dynamics is employed to quantify them. Lastly, a case example is conducted to verify the applicability of the proposed model.

The proposed model is an applicable model for PPSS while incorporating dynamic synergy. It can help project managers obtain the results that which project should be selected and when it should start while achieving optimal PPBs.

This study complements prior PPSS research in two aspects. First, financial and non-financial PPBs are designed as new criteria for PPSS, making the results follow the strategy. Second, this study illuminates the dynamic characteristic of synergy and quantifies the synergetic effect. The proposed model provides insights into managing a PPSS effectively.

The purpose of this paper is to reveal the dynamic contact characteristics of the slip ring. Dynamic contact resistance models considering wear and self-excited were established based on fractal theory.

The effects of tangential velocity, stiffness and damping coefficient on dynamic contact resistance are studied. The relationships between fractal parameters, wear time and contact parameters are revealed.

The results show that the total contact area decreases with the friction coefficient and fractal roughness under the same load. Self-excited vibration occurs at a low speed (less than 0.6 m/s). It transforms from stick-slip motion at 0.4 m/s to pure sliding at 0.5 m/s. A high stiffness makes contact resistance fluctuate violently, while increasing the damping coefficient can suppress the self-excited vibration and reduce the dynamic contact resistance. The fractal contact resistance model considering wear is established based on the fractal parameters models. The validity of the model is verified by the wear tests.

The results have a great significance to study the electrical contact behavior of conductive slip ring.

The peer review history for this article is available at: https://publons.com/publon/10.1108/ILT-09-2023-0300/