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The purpose of this study is to propose a path-planning strategy based on the velocity-virtual spring method to realize collision-free tasks in dynamic environments and further improve the effect.

By considering factors such as the relative velocity and direction of dynamic obstacles, the repulsive force of the robot is improved, thereby enhancing the adaptability of the strategy and achieving flexible and effective avoidance against dynamic obstacles. The attraction formula has been designed to allow the robot to have better smooth changes and higher gradients near the target, helping robots better reach the target and follow formations. Moreover, to meet the demands of the various stages during the driving process, the null space behavioral control is used to solve multi-task conflict problems and strengthen formation coordination and control.

Comparison of the planning path and formation effects through simulation and physical experiments, the results of this study show that the algorithm proposed can successfully maintain formation stability and plan smooth and safe paths in static or dynamic environments.

This paper proposes a path-planning strategy based on the velocity-virtual spring method to plan collision-free paths for formation in dynamic environments.

This study aims to investigate the influence of inventors’ abilities to acquire external knowledge, provide broad and professional knowledge and patenting output (i.e. different types of inventors) on the formation of structural holes.

The authors collected 59,798 patents applied for and granted in the USA by 33 of the largest firms worldwide in the pharmaceutical industry between 1975 and 2014. A random-effects tobit model was used to test the hypotheses.

The inventors’ ability to acquire external knowledge contributes to the formation of structural holes. While inventors’ ability to provide broad knowledge positively affects the formation of structural holes, their ability to provide professional knowledge works otherwise. In addition, key inventors and industrious inventors are more likely to form structural holes than talents.

The results identify individual factors that affect the formation of structural holes and improve the understanding of structural hole theory. This study is unique in that most scholars have studied the consequences of structural hole formation rather than their antecedents. Studies on the origin of structural holes neglect the effect of inventors’ knowledge abilities and patenting output. By addressing this gap, this study contributes to a more comprehensive theoretical understanding of structural holes. The results can guide managers in managing structural holes in accordance with inventors’ knowledge abilities and patenting outputs, which optimize the allocation of network resources.

The purpose of this paper is to construct an event-triggered finite-time fault-tolerant formation tracking controller, which can achieve a time-varying formation control for multiple unmanned aerial vehicles (UAVs) during actuator failures and external perturbations.

First, this study developed the formation tracking protocol for each follower using UAV formation members, defining the tracking inaccuracy of the UAV followers’ location. Subsequently, this study designed the multilayer event-triggered controller based on the backstepping method framework within finite time. Then, considering the actuator failures, and added self-adaptive thought for fault-tolerant control within finite time, the event-triggered closed-loop system is subsequently shown to be a finite-time stable system. Furthermore, the Zeno behavior is analyzed to prevent infinite triggering instances within a finite time. Finally, simulations are conducted with external disturbances and actuator failure conditions to demonstrate formation tracking controller performance.

It achieves improved performance in the presence of external disturbances and system failures. Combining limited-time adaptive control and event triggering improves system stability, increase robustness to disturbances and calculation efficiency. In addition, the designed formation tracking controller can effectively control the time-varying formation of the leader and followers to complete the task, and by adding a fixed-time observer, it can effectively compensate for external disturbances and improve formation control accuracy.

A formation-following controller is designed, which can handle both external disturbances and internal actuator failures during formation flight, and the proposed method can be applied to a variety of formation control scenarios and does not rely on a specific type of UAV or communication network.

The purpose of this study is to investigate the accumulation process of transfer film formation and dissipation and its effect on friction coefficients in non asbestos organic friction materials with various lubricant FeS₂ contents.

In total, 2.5%, 5% and 10% FeS₂ were added as lubricating components to the friction materials. Friction tests composed of two stages were conducted for these friction materials, and the friction surfaces of the counterpart discs were examined using scanning electron microscopy.

The transfer film formation reduced the friction coefficients, and the transfer film dissipation influenced the recovery of the friction coefficients. The effect of a high content of FeS₂ was to promote the transfer film formation at high temperatures and to hinder the transfer film dissipation at low temperatures, thus resulting in a decrease in the friction coefficients at high temperatures together with recovery retardation at low temperatures.

FeS₂ contributed to the transfer film formation at high temperatures in the fade test but hindered the transfer film removal in the recovery test, resulting in the retardation of friction coefficient recovery. The mechanism by which the FeS₂ lubricant component affected the transfer film formation and dissipation was analyzed and attributed to the different levels of FeS₂ pyrolysis at different temperature levels.

This study addresses an important yet underdeveloped topic in routine dynamics research: how do routines form? Given the salience of routine formation in new ventures, this study is based on a single, longitudinal case study, following MatchMe, a technology-enabled startup. Building on findings from MatchMe, this study posits routine formation as a layered process. Rather than replacing established routines, routine formation was sequential. New routines were formed in addition to routines that continued to run in parallel. Routine formation was guided by organizational goals and monitoring their attainment. Multiple routines are formed to explore and create possibilities by shifting espoused ideals to attain organizational goals. This study advances routine dynamics in three distinct ways. First, it elaborates on a predominantly binary view of routine formation. Second, it extends work focused on the active creation of patterns. Third, it extends the response and outcomes of routine change, providing avenues for future research to explore strategic consequences of routines for outcomes typically associated with firm performance.

This study employs Stein Rokkan's methodological approach to analyse state formation in the Greater Middle East. It develops a conceptual framework distinguishing colonial, populist and democratic pacts, suitable for analysis of state formation and nation-building through to the present period. The framework relies on historical institutionalism. The methodology, however, is Rokkan's. The initial conceptual analysis also specifies differences between European and the Middle Eastern state formation processes. It is followed by a brief and selective discussion of historical preconditions. Next, the method of plotting singular cases into conceptual-typological maps is applied to 20 cases in the Greater Middle East (including Afghanistan, Iran and Turkey). For reasons of space, the empirical analysis is limited to the colonial period (1870s to the end of World War 1). Three typologies are combined into one conceptual-typological map of this period. The vertical left-hand axis provides a composite typology that clarifies cultural-territorial preconditions. The horizontal axis specifies transformations of the region's agrarian class structures since the mid-19th century reforms. The right-hand vertical axis provides a four-layered typology of processes of external intervention. A final section presents selected comparative case reconstructions. To the authors' knowledge, this is the first time such a Rokkan-style conceptual-typological map has been constructed for a non-European region.

This paper aims to propose a robust kinematic controller based on sliding mode theory designed to solve the trajectory tracking problem and also the formation control using the leader–follower strategy for nonholonomic differential-drive wheeled mobile robots with a PD dynamic controller.

To deal with classical sliding mode control shortcomings, such as the chattering and the requirement of a priori knowledge of the limits of the effects of disturbances, an immune regulation mechanism-inspired approach is proposed to adjust the control effort magnitude adaptively. A simple fuzzy boundary layer method and an adaptation law for the immune portion gain online adjustment are also considered. An obstacle avoidance reactive strategy is proposed for the leader robot, given the importance of the leader in the formation control structure.

To verify the adaptability of the controller, obstacles are distributed along the reference trajectory, and the simulation and experimental results show the effectiveness of the proposed controller, which was capable of generating control signals avoiding chattering, compensating for disturbances and avoiding the obstacles.

The proposed design stands out for the ability to adapt in a case involving obstacle avoidance, trajectory tracking and leader–follower formation control by nonholonomic robots under the incidence of uncertainties and disturbances and also considering that the immune-based control provided chattering mitigation by adjusting the magnitude of the control effort, with adaptability improved by a simple integral-type adaptive law derived by Lyapunov stability analysis.

The purpose of this paper is to identify the dimensions and formation mechanisms of brand value on social media platforms within the prosumption logic based on the theory of value co-creation. By adopting a process-oriented mindset, this study deconstructs and applies the prosumption theory and the theory of value co-creation in the field of social media, thereby addressing the insufficiencies of previous research that focused primarily on the subject mindset. It offers reference ideas for social media brand managers to attract prosumers to engage in value co-creation.

The crawler technology and grounded theoretical method were adopted in this research paper.

Based on the logic of prosumption and the theory of value co-creation, the research finds that the brand value of social media platforms is composed of seven dimensions. The dimensions include brand recognition, brand perception quality, brand experience, brand value-in-use, brand relationship quality, brand loyalty and brand co-creation behavior. From the perspective of prosumption logic, the formation of brand value on social media platforms is a gradual accumulation process. This process involves prosumers participating in prosumption activities, progressing through several stages. Initially, it starts with “prosumption conditions”, which include brand recognition, brand perception quality and brand experience. It then moves to “prosumption processes,” characterized by brand value-in-use and brand relationship quality. Finally, it culminates in “prosumption outcomes,” represented by brand loyalty and brand co-creation behavior. From the perspective of value creation, the formation of brand value on social media platforms is a closed-loop process that includes “brand value identification and empowerment—brand value acquisition and transformation—brand value co-creation and relationship upgradation—brand value co-creation and stability—brand value feedback and iteration.”

The findings contribute to expanding prosumption and co-creation theory and enriching the prosumption logic frame. Meanwhile, it is conducive to encouraging prosumers to participate in the platform’s prosumption activities and jointly creating the brand value of the social media platform. This paper interprets prosumption through the lens of the value co-creation process.

Social media has significantly impacted the value creation processes within the consumer–brand relationship. This study aims to examine value formation processes within a cosmetics social media brand community and to establish the types of value formation associated with different categories of interactions within a social media brand community.

The research adopted a netnographic approach and followed the operational protocols of netnography. Conversations in one large cosmetics social media brand community were observed and downloaded for analysis over a two-month period. Examples of value-creation and formation processes were identified using netnographic interpretative procedures to develop higher-order themes.

The findings supported the creation of a “Consumer and brand value creation and co-creation framework” highlighting disparate value types within the following interactions: consumer-to-consumer; brand-to-consumer; and consumer-to-brand. The identified value types were specific to the actors (i.e. consumers and brands) involved in value formation processes. The analysis also revealed consumers’ ability to independently generate value through direct interaction with a social media brand community and the brands’ role in supporting consumers in value formation through value facilitation.

The pivotal role of disparate actors’ interactions in value formation processes is highlighted, alongside the autonomous ability to form value with the aid of resources stored and shared within the social media brand community. The network of interactions and value-creation processes contribute to a holistic understanding of the interactions in a social media brand community. Furthermore, the research explores and highlights the emerging role of social media brand communities as “value vestiges”.

This study aims to explore the effects of long-term orientation (LTO) and strategy formation mode on corporate social responsibility. While many researchers have investigated how large businesses address corporate social responsibility (CSR), there is little empirical evidence on how small- and medium-sized businesses implement CSR or what individual drivers shape this process.

The paper surveyed 282 small and medium-sized managers from the United Kingdom. The respondents were recruited using platform Prolific Academic.

The findings reveal that LTO is a prerequisite for developing CSR and shapes strategy formation mode. The findings also suggested that deliberate strategies are positively related to CSR. The results are consistent across different components of LTO (futurity, continuity and perseverance) and CSR types (internal and external).

The results show that all aspects of LTO are relevant for CSR in SMEs. Besides LTO, deliberate strategy formation model is an important factor contributing to CSR. The paper presents as first an empirical contribution to the strategy literature by examining positive relationship between LTO and deliberate strategy formation mode.