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This study aims to investigate the two-dimensional magnetohydrodynamic flow and heat transfer of a fractional Maxwell nanofluid between inclined cylinders with variable thickness. Considering the cylindrical coordinate system, the constitutive relation of the fractional viscoelastic fluid and the fractional dual-phase-lag (DPL) heat conduction model, the boundary layer governing equations are first formulated and derived.

The newly developed finite difference scheme combined with the L1 algorithm is used to numerically solve nonlinear fractional differential equations. Furthermore, the effectiveness of the algorithm is verified by a numerical example.

Based on numerical analysis, the effects of parameters on velocity and temperature are revealed. Specifically, the velocity decreases with the increase of the fractional derivative parameter α owing to memory characteristics. The temperature increase with the increase of fractional derivative parameter ß due to a decrease in thermal resistance. From a physical perspective, the phase lag of the heat flux vector and temperature gradients τ_q and τ_T exhibit opposite trends to the temperature. The ratio τ_T/τ_q plays an important role in controlling different heat conduction behaviors. Increasing the inclination angle θ, the types and volume fractions of nanoparticles Φ can increase velocity and temperature, respectively.

Fractional Maxwell nanofluid flows from a fixed-thickness pipe to an inclined variable-thickness pipe, and the fractional DPL heat conduction model based on materials is considered, which provides a basis for the safe and efficient transportation of high-viscosity and condensable fluids in industrial production.

As wheeled mobile robots find increasing use in outdoor applications, it becomes more important to reduce energy consumption to perform more missions efficiently with limit energy supply. The purpose of this paper is to survey the current state-of-the-art on energy-efficient motion planning (EEMP) for wheeled mobile robots.

The use of wheeled mobile robots has been increased to replace humans in performing risky missions in outdoor applications, and the requirement of motion planning with efficient energy consumption is necessary. This study analyses a lot of motion planning technologies in terms of energy efficiency for wheeled mobile robots from 2000 to present. The dynamic constraints play a key role in EEMP problem, which derive the power model related to energy consumption. The surveyed approaches differ in the used steering mechanisms for wheeled mobile robots, in assumptions on the structure of the environment and in computational requirements. The comparison among different EEMP methods is proposed in optimal, computation time and completeness.

According to lots of literature in EEMP problem, the research results can be roughly divided into online real-time optimization and offline optimization. The energy consumption is considered during online real-time optimization, which is computationally expensive and time-consuming. The energy consumption model is used to evaluate the candidate motions offline and to obtain the optimal energy consumption motion. Sometimes, this optimization method may cause local minimal problem and even fail to track. Therefore, integrating the energy consumption model into the online motion planning will be the research trend of EEMP problem, and more comprehensive approach to EEMP problem is presented.

EEMP is closely related to robot’s dynamic constraints. This paper mainly surveyed in EEMP problem for differential steered, Ackermann-steered, skid-steered and omni-directional steered robots. Other steering mechanisms of wheeled mobile robots are not discussed in this study.

The survey of performance of various EEMP serves as a reference for robots with different steering mechanisms using in special scenarios.

This paper analyses a lot of motion planning technologies in terms of energy efficiency for wheeled mobile robots from 2000 to present.

The purpose of this study is to examine if the international experience of a family firm’s chairman, second-generation managers and other top managers all have impacts of different strengths using information about Chinese family firms’ international expansion.

Matching tactics and dynamic Heckman 2-stage analysis were applied to data on 766 publicly-listed Chinese family businesses covering 2008–2014.

The international experience of the chairman, second-generation family managers and other senior managers all were found to correlate with the proportion of a firm’s revenue earned abroad, as well as with the number of its cross-border mergers and acquisitions. The impact of a chairman’s international experience is stronger than the impact of the other two groups when internationalization is measured in terms of the proportion of revenue earned overseas. The second-generation managers’ international experience is the most influential when internationalization is measured in terms of the number of cross-border mergers and acquisitions.

This paper bridges agency theory with upper echelons theory in the context of the family business. The findings contribute to the scholarly understanding of family business by illuminating the mechanisms through which second-generation managers may influence family firms’ internationalization. They also enrich the knowledge of family firms in China.