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To study these issues, the authors chose a GFSC with one producer and one material supplier as research object, the supplier will offer green material to the producer and the producer will make green food using green production technology. Then, the authors proposed that consumers' perceived value was determined by the trustworthiness levels of the related green and quality-safety information provided by the supplier and the producer. Then, considering the trustworthiness levels of the green and quality information provided by the supplier and the producer, the authors improved the demand function. Afterwards, we constructed four investment models and their income models are built and then a cost-sharing and revenue-sharing contract (hereafter, CSRS) was adopted to coordinate the GFSC.

With the growth of consumers environmental awareness and life level, consumers' requirements for green and high quality food are growing. In recently years, to increase consumers' perceived trustworthiness on the product greenness and quality levels, stakeholders in green food supply chain (hereafter, GFSC) start to adopt the blockchain-based traceability system (hereafter, BLTS). For investors, they need to know the investment conditions and how to coordinate the GFSC.

(1) When the revenue-sharing coefficient is less than three-fourths and higher then a certain vaule, the cost-sharing and revenue-sharing contract can make the GFSC coordinate. (2) The investment cost threshold of the BLTS has a positive relationship with the trustworthiness improvement levels of the green and quality information, the green degree of food products and the quality of food products. (3) In the proposed four investment situations, as the growth of consumers perceived credibility coefficient about the greenness information and the quality information, chain members' revenues will increase. In addition, comparing with co-investing the BLTS, benefits of chain members are lower than them in the sole investment model.

(1) The demand function we proposed can help chain members forecast market demand to support production or ordering decisions. (2) The investment decision policies can offer a theoretical reference for chain members to use the BLTS. (3) The CSRS will offer the theoretical reference for coordinating the supply chain after using the BLTS. Furthermore, our study method can be referenced by other scholars. (4) The study method can offer a method reference for researchers who do a similar discussion in a manufacturing supply chain. Although, our research cannot guide the industrial practices, it can serve as a reference of the similar research in industry.

Voltage source inverter-fed permanent magnet synchronous motors (VSI-PMSMs) are widely used in industrial actuation and mechatronic systems in water pumping stations, as well as in the traction of transportation systems (such as electric vehicles and electric trains or ships with electric propulsion). The dynamic model of VSI-PMSMs is multivariable and exhibits complicated nonlinear dynamics. The inverters’ currents, which are generated through a pulsewidth modulation process, are used to control the stator currents of the PMSM, which in turn control the rotational speed of this electric machine. So far, several nonlinear control schemes for VSI-PMSMs have been developed, having as primary objectives the precise tracking of setpoints by the system’s state variables and robustness to parametric changes or external perturbations. However, little has been done for the solution of the associated nonlinear optimal control problem. The purpose of this study/paper is to provide a novel nonlinear optimal control method for VSI-fed three-phase PMSMs.

The present article proposes a nonlinear optimal control approach for VSI-PMSMs. The nonlinear dynamic model of VSI-PMSMs undergoes approximate linearization around a temporary operating point, which is recomputed at each iteration of the control method. This temporary operating point is defined by the present value of the voltage source inverter-fed PMSM state vector and by the last sampled value of the motor’s control input vector. The linearization relies on Taylor series expansion and the calculation of the system’s Jacobian matrices. For the approximately linearized model of the voltage source inverter-fed PMSM, an H-infinity feedback controller is designed. For the computation of the controller’s feedback gains, an algebraic Riccati equation is iteratively solved at each time-step of the control method. The global asymptotic stability properties of the control method are proven through Lyapunov analysis. Finally, to implement state estimation-based control for this system, the H-infinity Kalman filter is proposed as a state observer. The proposed control method achieves fast and accurate tracking of the reference setpoints of the VSI-fed PMSM under moderate variations of the control inputs.

The proposed H-infinity controller provides the solution to the optimal control problem for the VSI-PMSM system under model uncertainty and external perturbations. Actually, this controller represents a min–max differential game taking place between the control inputs, which try to minimize a cost function that contains a quadratic term of the state vector’s tracking error, the model uncertainty, and exogenous disturbance terms, which try to maximize this cost function. To select the feedback gains of the stabilizing feedback controller, an algebraic Riccati equation is repetitively solved at each time-step of the control algorithm. To analyze the stability properties of the control scheme, the Lyapunov method is used. It is proven that the VSI-PMSM loop has the H-infinity tracking performance property, which signifies robustness against model uncertainty and disturbances. Moreover, under moderate conditions, the global asymptotic stability properties of this control scheme are proven. The proposed control method achieves fast tracking of reference setpoints by the VSI-PMSM state variables, while keeping also moderate the variations of the control inputs. The latter property indicates that energy consumption by the VSI-PMSM control loop can be minimized.

The proposed nonlinear optimal control method for the VSI-PMSM system exhibits several advantages: Comparing to global linearization-based control methods, such as Lie algebra-based control or differential flatness theory-based control, the nonlinear optimal control scheme avoids complicated state variable transformations (diffeomorphisms). Besides, its control inputs are applied directly to the initial nonlinear model of the VSI-PMSM system, and thus inverse transformations and the related singularity problems are also avoided. Compared with backstepping control, the nonlinear optimal control scheme does not require the state-space description of the controlled system to be found in the triangular (backstepping integral) form. Compared with sliding-mode control, there is no need to define in an often intuitive manner the sliding surfaces of the controlled system. Finally, compared with local model-based control, the article’s nonlinear optimal control method avoids linearization around multiple operating points and does not need the solution of multiple Riccati equations or LMIs. As a result of this, the nonlinear optimal control method requires less computational effort.

Voltage source inverter-fed permanent magnet synchronous motors (VSI-PMSMs) are widely used in industrial actuation and mechatronic systems in water pumping stations, as well as in the traction of transportation systems (such as electric vehicles and electric trains or ships with electric propulsion), The solution of the associated nonlinear control problem enables reliable and precise functioning of VSI-fd PMSMs. This in turn has a positive impact in all related industrial applications and in tasks of electric traction and propulsion where VSI-fed PMSMs are used. It is particularly important for electric transportation systems and for the wide use of electric vehicles as expected by green policies which aim at deploying electromotion and at achieving the Net Zero objective.

Unlike past approaches, in the new nonlinear optimal control method, linearization is performed 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 input vector and not at points that belong to the desirable trajectory (setpoints). Besides, the Riccati equation, which is used for computing the feedback gains of the controller, is new, as is the global stability proof for this control method. Comparing with nonlinear model predictive control, which is a popular approach for treating the optimal control problem in industry, the new nonlinear optimal (H-infinity) control scheme is of proven global stability, and the convergence of its iterative search for the optimum does not depend on initial conditions and trials with multiple sets of controller parameters. It is also noteworthy that 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 that can be transformed to the linear parameter varying 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.

This paper aims to refine the mechanisms affecting the two-way technology spillover and carbon transfer interactions between supply chain enterprises, and to guide their reduction of carbon emissions.

This study formulates a supplier-led Stackelberg game model to explore the effects of the interactions between two-way technology spillover effects and carbon transfers in decentralized and centralized decision-making scenarios. The optimized Shapley value is introduced to coordinate across the supply chain and determine the overall profits lost in the decentralized scenario.

Emission reductions by the low-carbon manufacturer are negatively correlated with the carbon transfers. Vertical technology spillovers promote carbon reduction, whereas horizontal technology spillovers inhibit it. The vertical technology spillovers amplify the negative effects of the carbon transfers, whereas the horizontal technology spillovers alleviate these negative effects. When the vertical technology spillover effect is strong or the horizontal technology spillover effect is weak in the centralized scenario, the carbon reduction is negatively correlated with the carbon transfers. Conversely, when the vertical technology spillover effect is weak or the horizontal technology spillover effect is strong, the enterprise’s carbon reduction is positively correlated with the carbon transfers. An optimized Shapley value can coordinate the supply chain.

This study examines the effects of carbon transfers on enterprises from a micro-perspective and distinguishes between vertical and horizontal technology spillovers to explore how carbon transfers and different types of technology spillovers affect enterprises’ decisions to reduce carbon emissions.

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.

This chapter discussed the implementation of the digital twin (DT) idea into construction. Through the adoption of DTs into construction practices, construction professionals have been able to project an identical virtual concept of sections of the project execution right from the onset. In the introduction and discussing of its origin, the DT was further assessed about its applications in construction beneficial in enhancing project delivery. Other sections like barriers, drivers and benefits of the DT in construction summarised what this chapter represents in terms of discussing the new involvement of digital tools in construction execution, management and sustainability.

To further promote application of BIM technology in construction of prefabricated buildings, influencing factors and evolution laws of willingness to apply BIM technology are explored from the perspective of willingness of participants.

In this paper, a tripartite game model involving the design firm, component manufacturer and construction firm is constructed and a system dynamics method is used to explore the influencing factors and game evolution path of three parties' application of BIM technology, from three perspectives, cost, benefit and risk.

The government should formulate measures for promoting the application of BIM according to different BIM application willingness of the parties. When pursuing deeper BIM application, the design firm should pay attention to reducing the speculative benefits of the component manufacturer and the construction firm. The design firm and the component manufacturer should pay attention to balancing the cost and benefit of the design firm while enhancing collaborative efforts. When the component manufacturer and the construction firm cooperate closely, it is necessary to pay attention to balanced distribution of interests of both parties and lower the risk of BIM application.

This study fills a research gap by comprehensively investigating the influencing factors and game evolution paths of willingness of the three parties to apply BIM technology to prefabricated buildings. The research helps to effectively improve the building quality and construction efficiency, and is expected to contribute to the sustainability of built environment in the context of circular economy in China.

In repetitive projects, repetition offers more possibilities for activity scheduling at the sub-activity level. However, existing resource-constrained repetitive scheduling problem (RCRSP) models assume that there is only one sequence in performing the sub-activities of each activity, resulting in an inefficient resource allocation. This paper proposes a novel repetitive scheduling model for solving RCRSP with soft logic.

In this paper, a constraint programming model is developed to solve the RCRSP using soft logic, aiming at the possible relationship between parallel execution, orderly execution or partial parallel and partial orderly execution of different sub activities of the same activity in repetitive projects. The proposed model integrated crew assignment strategies and allowed continuous or fragmented execution.

When solving RCRSP, it is necessary to take soft logic into account. If managers only consider the fixed logic between sub-activities, they are likely to develop a delayed schedule. The practicality and effectiveness of the model were verified by a housing project based on eight different scenarios. The results showed that the constraint programming model outperformed its equivalent mathematical model in terms of solving speed and solution quality.

Available studies assume a fixed logic between sub-activities of the same activity in repetitive projects. However, there is no fixed construction sequence between sub-activities for some projects, e.g. hotel renovation projects. Therefore, this paper considers the soft logic relationship between sub-activities and investigates how to make the objective optimal without violating the resource availability constraint.

This paper aims to introduce a novel structure for the physical internet (PI)–enabled sustainable supplier selection and inventory management problem under uncertain environments.

To address hybrid uncertainty both in the objective function and constraints, a novel interactive hybrid multi-objective optimization solution approach combining Me-based fuzzy possibilistic programming and interval programming approaches is tailored.

Various numerical experiments are introduced to validate the feasibility of the established model and the proposed solution method.

Due to its interconnectedness, the PI has the opportunity to support firms in addressing sustainability challenges and reducing initial impact. The sustainable supplier selection and inventory management have become critical operational challenges in PI-enabled supply chain problems. This is the first attempt on this issue, which uses the presented novel interactive possibilistic programming method.

Present study aims to extend the lattice Boltzmann method (LBM) to simulate radiation in geometries with curved boundaries, as the first step to simulate radiation in complex porous media. In recent years, researchers have increasingly explored the use of porous media to improve the heat transfer processes. The lattice Boltzmann method (LBM) is one of the most effective techniques for simulating heat transfer in such media. However, the application of the LBM to study radiation in complex geometries that contain curved boundaries, as found in many porous media, has been limited.

The numerical evaluation of the effect of the radiation-conduction parameter and extinction coefficient on temperature and incident radiation distributions demonstrates that the proposed LBM algorithm provides highly accurate results across all cases, compared to those found in the literature or those obtained using the finite volume method (FVM) with the discrete ordinates method (DOM) for radiative information.

For the case with a conduction-radiation parameter equal to 0.01, the maximum relative error is 1.9% in predicting temperature along vertical central line. The accuracy improves with an increase in the conduction-radiation parameter. Furthermore, the comparison between computational performances of two approaches reveals that the LBM-LBM approach performs significantly faster than the FVM-DOM solver.

The difficulty of radiative modeling in combined problems involving irregular boundaries has led to alternative approaches that generally increase the computational expense to obtain necessary radiative details. To address the limitations of existing methods, this study presents a new approach involving a coupled lattice Boltzmann and first-order blocked-off technique to efficiently model conductive-radiative heat transfer in complex geometries with participating media. This algorithm has been developed using the parallel lattice Boltzmann solver.

The paper attempts to discuss the optimal pricing decisions under the decentralized and centralized decision and analyze the influence of online reviews and in-sale service on dual-channel supply chain. Finally, the authors design a two-part tariff coordination mechanism.

To deal with this pricing conflict problems of dual-channel supply chain consisting of dominant manufacturer and a retailer, considering the fact that online reviews and in-sale service are important factors on consumers’ purchase decisions, the authors establish some basic models and exploit them to discuss the optimal pricing decisions under the decentralized and centralized decision and analyze the influence of online reviews and in-sale service on dual-channel supply chain. Finally, the authors design a profit-sharing coordination mechanism.

The results show that the optimal online direct selling price is positively correlated with product perceived quality obtained from online reviews and negatively correlated with the in-sale service. The traditional retail price is positively correlated with the in-sale service and weakly correlated with online reviews. For the manufacturer and retailer, whether decentralized decision or coordination contract, their profits increase with the increase of the in-sale service in a certain range and quality perceived from spontaneous online reviews. Online reviews and in-sale service are important factors on consumers’ purchase decisions. Positive in-sale services and online reviews can provide consumers with a better shopping experience, thereby promoting their enthusiasm for shopping and improving their quality of life. The two-part tariff coordination mechanism improves the profits of the manufacturer and the traditional retailer, respectively, through the transfer fee.

The proposed approach can well analyze the channel conflicts and pricing problems between retailers and manufacturers with respect to product offline price and online price. The analysis and results can inform decision-making for manufacturers and retailers.