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Robot kinematic modeling needs to be based on clear physical concepts. The widely used Denavit–Hartenberg (D–H) convention requires the coordinate system to be established on an extension of the axis. This leads to non-trivial problems which this study seeks to address by developing an improved convention.

First, the problems associated with the traditional D–H convention are systematically analyzed. Then, pursuant of solving these problems, an enhanced Denavit–Hartenberg (ED–H) convention is proposed, and a procedure is delineated for establishing the coordinate frame and obtaining the associated parameters. The transformation equations are derived based on a homogeneous matrix. The characteristics of traditional D–H and ED–H with regard to kinematics and dynamics are comprehensively compared. Finally, an application of dynamics for lead-through programming and collision protection is undertaken to validate the proposed ED–H method. Simulations and experiments are carried out using the Tiansui-One cooperative robot platform with the aim of exploring the merits of the proposed convention.

The proposed convention is compatible with traditional methods and can solve the problems inherent in these methods. The main characteristic of ED–H is that the coordinate system is fixed on the joint, which is a general modeling method.

An enhanced D–H convention is proposed to establish a unified, intuitive and accurate link model that exhibits stronger adaptability than traditional D–H and can be used effectively in kinematic and dynamic modeling of mechanical arms.

This study aims to evaluate the use of polyoxyethylene lauryl ether (PLE) as a dispersant in the preparation of novel pigment dispersion with enhanced dispersion ability, which can find application in the printing industry.

To obtain a good dispersion, PLE was used as a dispersant in pigments dispersion. The colloidal and rheological properties of the PLE-based dispersion, such as particle distribution, zeta potentials and apparent viscosity were evaluated.

The particle sizes of the pigment dispersions were within the range of 150 to 200 nm. The measurement of zeta potentials varied between −24 to −32 mV, revealing a strong surface charge interaction between pigments and PLE. Subsequently, its stability to high-speed centrifuge and freeze-thaw treatment was carefully investigated. To demonstrate the coverage of pigment particles by PLE, thermogravimetric analysis was carried out. Moreover, X-ray diffraction was used to disclose the combined impacts of PLE and ultrasonic power on the crystal structures of the pigments. Finally, the coloring performance and leveling properties of pigment dispersions on cotton substrates were evaluated by measuring their K/S values (color strength), rub and color fastness properties, which possessed good results.

The dispersant used is incompatible with strong oxidizing agents and strong bases. More so, modification to improve its dispersion properties can be studied.

The use of PLE as a dispersant could be readily used in pigment dispersion processes and other suitable applications. PLE could also be used as a co-surfactant in synergy with other surfactants or dispersants in the dispersion process.

The use of PLE in pigment dispersion as well as investigating its coloring properties on cotton fabric is novel and can find various applications in the dying, printing and coating industry.

The purpose of this paper is to survey existing inter-organisational information security research to scrutinise the kind of knowledge that is currently available and the way in which this knowledge has been brought about.

The results are based on a literature review of inter-organisational information security research published between 1990 and 2014.

The authors conclude that existing research has focused on a limited set of research topics. A majority of the research has focused management issues, while employees’/non-staffs’ actual information security work in inter-organisational settings is an understudied area. In addition, the majority of the studies have used a subjective/argumentative method, and few studies combine theoretical work and empirical data.

The findings suggest that future research should address a broader set of research topics, focusing especially on employees/non-staff and their use of processes and technology in inter-organisational settings, as well as on cultural aspects, which are lacking currently; focus more on theory generation or theory testing to increase the maturity of this sub-field; and use a broader set of research methods.

The authors conclude that existing research is to a large extent descriptive, philosophical or theoretical. Thus, it is difficult for practitioners to adopt existing research results, such as governance frameworks, which have not been empirically validated.

Few systematic reviews have assessed the maturity of existing inter-organisational information security research. Findings of authors on research topics, maturity and research methods extend beyond the existing knowledge base, which allow for a critical discussion about existing research in this sub-field of information security.

The purpose of this paper is to compare the sensing characteristics of uniform fiber Bragg grating (FBG) and tilted fiber Bragg grating (TFBG) by presenting a detailed research review. Temperature, axial strain, bending, vibration and refractive index measurands of FBG and TFBG sensor are presented and some significant differences are found.

Theoretical analysis and practical application in engineering are investigated and compared from other authors' research papers and self analysis. Spectra behavior of both FBG and TFBG are discussed.

There are found to be significant differences in temperature, axial strain, bending, vibration and refractive index sensing characteristics of FBG and TFBG.

The paper's analysis is comprehensive and clear and provides readers with the sensing characteristics of FBG and TFBG in detail.

This chapter assesses the economic impact of geared turbofan (GTF) engines on the London Heathrow Airport (LHR)–Frankfurt Airport (FRA) route using cost–benefit analysis (CBA). An aircraft appraisal model is created to answer the two key questions of whether the A320neos aircraft with GTF engines could replace the conventional A320 aircraft through an operating lease (acquisition) or whether it would be better for society if the LHR–FRA sector is operated with a leased 737-800 aircraft. The scope of the CBA analysis is from 2015 until 2027.

The outcomes of the aircraft appraisal model indicate that switching to A320neos on lease (Option 2) might be beneficial. The fuel consumption of the A320neo aircraft is lower than that of the current A320-200 aircraft (2,234 kg vs 2,988 kg per sector). As a result, this option could offer a large benefit (NPV of USD 31 million) through lower fuel consumption and thus lower fuel costs. At the same time, a fuel reduction means a lower emissions impact (about USD 2 million benefit). It can be concluded that keeping the current A320-200 (NPV of USD 8.9 million) is less profitable than replacing it with a leased A320neo (NPV of USD 31 million) for Airline A, but better than a B737-800 (NPV USD 4.3 million). The option to lease the A320neos appears to be preferred in most cases, considering the impact of noise and NO_x cost, due to the large benefit of NPV USD 25 million compared to the A320 and an approximately 29 million difference compared with the B737-800.

Using a combination of the geographical information system (GIS) and the Canadian water quality index (WQI), the current study sought to provide a long-term general assessment of the water quality of the Shatt Al-Arab River (SAAR), focusing on its suitability for living organisms. Likewise, SPSS statistics was used to develop a nonlinear WQI regression model for the study area.

The study required four decades of data collection on some environmental characteristics of river water. After that, calculate the WQI and conduct the spatial analysis. Eight variables in total, including water temperature, dissolved oxygen, potential hydrogen ions, electrical conductivity (EC), biological oxygen demand, turbidity, nitrate and phosphate, were chosen to calculate the WQI.

Throughout the study periods, the WQI values varied from 55.2 to 79.83, falling into the categories of four (marginal) and three (fair), with the sixth period (2007–2008) showing the most decline. The present research demonstrated that the high concentration of phosphates, the high EC values, and minor changes in the other environmental factors are the major causes of the decline in water quality. The variations in ecological variables' overlap are a senior contributor to changes in water quality in general. Notably, using GIS in conjunction with the WQI has shown to be very effective in reducing the time and effort spent on investigating water quality while obtaining precise findings and information at the lowest possible expense. Calibration and validation of the developed model showed that this model had a perfect estimate of the WQI value. Due to its flexibility and impartiality, this study recommends using the proposed model to estimate and predict the WQI in the study area.

Even though the water quality of the SAAR has been the subject of numerous studies, this is the only long-term investigation that has been done to evaluate and predict its water quality.

Greenhouse gas (GHG) emission has a detrimental impact on climate change. There is an increasing trend for firms to use disclosure to signal stakeholders about its environmental responsibilities and performance in dealing with climate change. China is one of the countries producing the most carbon emissions. Over the last decade, Chinese state-owned enterprises (SOEs) are becoming important players in international trade. However, the existing literature provides limited evidence on how Chinese SOEs influence GHG disclosure. Through the lens of stakeholder–agency theory, this chapter studies the top 300 listed firms to examine the relationship between Chinese SOEs and the likelihood of GHG disclosure. The result suggests a negative relationship between Chinese SOEs and the likelihood of GHG disclosure. This could be explained as a consequence of the managers' political self-interests, economic and policy-oriented decision-making process and the power differentials between the government and SOE managers. This research extends the GHG literature to Chinese SOEs context, providing direct evidence on how state ownership impacts on GHG disclosure.

The purpose of this paper is to explore how companies approach the management of cyber and information risks in their supply chain, what initiatives they adopt to this aim, and to what extent along the supply chain. In fact, the increasing level of connectivity is transforming supply chains, and it creates new opportunities but also new risks in the cyber space. Hence, cyber supply chain risk management (CSCRM) is emerging as a new management construct. The ultimate aim is to help organizations in understanding and improving the CSCRM process and cyber resilience in their supply chains.

This research relied on a qualitative approach based on a comparative case study analysis involving five large multinational companies with headquarters, or branches, in the UK.

Results highlight the importance for CSCRM to shift the viewpoint from the traditional focus on companies’ internal information technology (IT) infrastructure, able to “firewall themselves” only, to the whole supply chain with a cross-functional approach; initiatives for CSCRM are mainly adopted to “respond” and “recover” without a well-rounded approach to supply chain resilience for a long-term capacity to adapt to changes according to an evolutionary approach. Initiatives are adopted at a firm/dyadic level, and a network perspective is missing.

This paper extends the current theory on cyber and information risks in supply chains, as a combination of supply chain risk management and resilience, and information risk management. It provides an analysis and classification of cyber and information risks, sources of risks and initiatives to managing them according to a supply chain perspective, along with an investigation of their adoption across the supply chain. It also studies how the concept of resilience has been deployed in the CSCRM process by companies. By laying the first empirical foundations of the subject, this study stimulates further research on the challenges and drivers of initiatives and coordination mechanisms for CSCRM at a supply chain network level.

Results invite companies to break the “silos” of their activities in CSCRM, embracing the whole supply chain network for better resilience. The adoption of IT security initiatives should be combined with organisational ones and extended beyond the dyad. Where applicable, initiatives should be bi-directional to involve supply chain partners, remove the typical isolation in the CSCRM process and leverage the value of information. Decisions on investments in CSCRM should involve also supply chain managers according to a holistic approach.

A supply chain perspective in the existing scientific contributions is missing in the management of cyber and information risk. This is one of the first empirical studies dealing with this interdisciplinary subject, focusing on risks that are now very high in the companies’ agenda, but still overlooked. It contributes to theory on information risk because it addresses cyber and information risks in massively connected supply chains through a holistic approach that includes technology, people and processes at an extended level that goes beyond the dyad.

The purpose of this paper is to develop a comprehensive overview of green innovation (GI) in China, which is carried out by reviewing the evolution of GI from 2000 to 2019, and the main type of technology, actors and localizations. When appropriate, GI is compared to non-GI.

The study uses patent data from the European Patent Office database (PATSTAT); these data are processed to map trends and identify the main contributors to GI and the location of such innovation. The findings are then discussed and complemented with academic literature.

Key findings reveal an increasing divergence between GI and nongreen innovation after the 2008 crisis. It is also observed that solar energy appears to be the main component of GI in China, with a shift from photovoltaic thermal energy to solar photovoltaic energy after 2008. Other areas, such as waste management, greenhouse gases capture and climate change adaptation, are less innovative. Companies play an essential role in the development of all types of innovation. In terms of location, green patents are mainly filed in China’s three main megacities. The study also highlights the significant role of the Chinese state, which led policies shaping the trajectories and forms of GI.

This study expands knowledge on GI in China, highlighting its main specificities and the role of key actors. It provides to the reader a comprehensive picture of China’s green policies and innovation realities. The results can therefore be used to improve the understanding of GI evolution in China and facilitate the formulation of new research questions.

The recent progress of digital accounting has significantly affected businesses’ sustainable production process. Businesses generally use digital accounting applications to automate their operational procedures and increase their corporate efficiencies through improved output quality and sustainability. Consequently, the purpose of this study is to look into the antecedent factors that directly and indirectly influence blockchain technology adoption in the context of digital accounting systems.

The data of the current study were obtained from 346 accountants working in information technology companies. Partial least squares structural equation modeling was used to test the research proposal model.

The empirical results confirmed that the adoption of blockchain technology is most considerably impacted by perceived usefulness, whereby it was also revealed that perceived ease of use has a direct and indirect effect on blockchain technology adoption.

According to the researchers’ knowledge, this study addresses a vital research gap in the literature by suggesting a comprehensive research model that can help garner enhanced usage of blockchain technology and its implications in digital accounting systems in the Jordanian context.