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The six-axis force/torque sensor based on a Y-type structure has the advantages of simple structure, small space volume, low cost and wide application prospects. To meet the overall structural stiffness requirements and sensor performance requirements in robot engineering applications, this paper aims to propose a Y-type six-axis force/torque sensor.

The performance indicators such as each component sensitivities and stiffnesses of the sensor were selected as optimization objectives. The multiobjective optimization equations were established. A multiple quadratic response surface in ANSYS Workbench was modeled by using the central composite design experimental method. The optimal manufacturing structural parameters were obtained by using multiobjective genetic algorithm.

The sensor was optimized and the simulation results show that the overload resistance of the sensor is 200%F.S., and the axial stiffness, radial stiffness, bending stiffness and torsional stiffness are 14.981 kN/mm, 16.855 kN/mm, 2.0939 kN m/rad and 6.4432 kN m/rad, respectively, which meet the design requirements, and the sensitivities of each component of the optimized sensor have been well increased to be 2.969, 2.762, 4.010, 2.762, 2.653 and 2.760 times as those of the sensor with initial structural parameters. The sensor prototype with optimized parameters was produced. According to the calibration experiment of the sensor, the maximum Class I and II errors and measurement uncertainty of each force/torque component of the sensor are 1.835%F.S., 1.018%F.S. and 1.606%F.S., respectively. All of them are below the required 2%F.S.

Hence, the conclusion can be drawn that the sensor has excellent comprehensive performance and meets the expected practical engineering requirements.

This study aims to examine the impact of financial inclusion and bank stability on agricultural productivity in Sub-Saharan Africa (SSA).

The study used 38 countries in the SSA with data spanning between 2004 and 2021. The data were analyzed using the two-step system generalized method of moments (GMM) and the panel-corrected standard error (PCSE) model.

The study found a positive effect of financial inclusion and bank stability on agricultural productivity. The study also discovered that while the access component of financial inclusion has a negative influence on agricultural productivity, the usage dimension has a positive impact.

The study suggests to policymakers that an inclusive and stable financial system improves agricultural productivity. The findings recommend that policymakers should empower farmers to leverage financial inclusion.

This study provides insightful discussion on the impact of financial inclusion and its various dimensions and bank stability on agricultural productivity in SSA.

This study proposes “genuine small talk” in hospitality settings, particularly in coffee shops and its impact on enhancing guest experiences. This study aims to delineate how genuine small talk, characterized by sincerity, mutual respect, truthfulness and empathy, differs from traditional conversational engagements and influences service outcomes.

The study adopts a case research approach, focusing on the global coffee shop industry, particularly in high-context cultural settings. Using an abductive research paradigm, it intertwines theoretical concepts with empirical data gathered from face-to-face interviews with coffee shop visitors and managers. Data analysis involved qualitative coding techniques to synthesize and interpret findings related to genuine small talk.

Genuine small talk in hospitality, marked by sincerity, mutual respect, truthfulness and empathy, significantly enhances customer experiences. It transforms service encounters, turning negative experiences into positive ones and fostering customer loyalty. The study finds that genuine small talk is a strategic tool for emotional resonance and repeat patronage, yet its effectiveness depends on the staff’s ability to discern and adapt to customer moods and preferences.

This study highlights that genuine interpersonal interactions are key to enhancing customer experiences in hospitality. These genuine exchanges, characterized by sincerity, mutual respect, truthfulness and empathy, not only improve the immediate service encounter but also foster long-term customer loyalty. By transforming transactional interactions into meaningful connections, genuine small talk serves as a strategic tool in the hospitality industry, potentially reshaping service dynamics and elevating the perceived value of customer service. This research underscores the importance of staff training in emotional intelligence and adaptability to customer preferences, crucial for implementing genuine small talk effectively.

This research contributes to the hospitality literature by elucidating the nuanced role of genuine small talk in service encounters. It extends existing discourses of service interactions by highlighting the potential of genuine small talk in fostering connections and enhancing guest experiences.

The purpose of this paper is to investigate the process of fused filament fabrication (FFF) of a compliant gripper (CG) using thermoplastic polyurethane (TPU) material. The paper studies the applicability of different CG designs and the efficiency of some design parameters.

After reviewing a number of different papers, two designs were selected for a number of exploratory experiments. Using design of experiments (DOE) techniques to identify important design parameters. Finally, the efficiency of the parts was investigated.

The research finds that a simpler design sacrifices some effectiveness in exchange for a remarkable decrease in production cost. Decreasing infill percentage of previous designs and 3D printing them, out of TPU, experimenting with different parameters yields functional products. Moreover, the paper identified some key parameters for further optimization attempts of such prototypes.

The cost of conducting FFF experiments for TPU increases dramatically with product size, number of parameters studied and the number of experiments. Therefore, all three of these factors had to be kept at a minimum. Further confirmatory experiments encouraged.

This paper addresses an identified need to investigate applications of FFF and TPU in manufacturing functional efficient flexible mechanisms, grippers specifically. While most research focused on designing for increased performance, some research lacks discussion on design philosophy, as well as manufacturing issues. As the needs for flexible grippers vary from high-performance grippers to lower performance grippers created for specific functions/conditions, some effectiveness can be sacrificed to reduce cost, reduce complexity and improve applicability in different robotic assemblies and environments.

This research addresses a need in early childhood education for evidence-based teaching strategies that build emotional self-regulation skills in young children. The intervention assessed in this study focused on increasing the emotion vocabulary of preschool-aged students.

This mixed-methods, quasi-experimental study evaluated the impact a dialogic reading approach combined with direct instruction of emotion words during a shared book-reading activity had on students' emotion vocabulary knowledge. The study was conducted in a licensed daycare center in a suburb of Chicago, Illinois, with ten four- and five-year-old students. Pre- and post-session surveys assessed the intervention's impact on the students' receptive and expressive vocabulary knowledge, and observation notes captured the students' responses to the intervention activities.

The results showed significant increases with small to medium effect sizes between the students’ pre- and post-session survey scores for both receptive and expressive emotion vocabulary knowledge, a strong positive correlation between the level of student engagement during the intervention and their emotion vocabulary assessment scores, and the impact other variables had on the intervention’s effectiveness.

This research provides information on a culturally adaptable and quickly learned teaching strategy that could be used to build emotional self-regulation skills in the early childhood classroom.

This research uniquely applies this intervention as a universal strategy with preschool-aged children.

Micro, small and medium-sized enterprises (MSMEs) are vital for economic growth in developing countries. Yet, little research has explored the link between Islamic principles and MSME performance, especially in Uganda. This study aims to investigate the relationship between Islamic financial principles and MSMEs’ performance in Makindye Division Kampala – Uganda.

This study used a correlational research design involving 86 respondents from 30 MSMEs between January and May 2023. Data collected through questionnaires was analyzed with Statistical Package for Social Sciences, examining three independent variables: ethicality, Halal investment and prohibition of riba, in relation to MSME performance.

The results revealed significant relationships between these variables and MSME performance. Prohibition of riba (r = 0.296, n = 86, p = 0.006), Halal investments (r = 0.308, n = 86, p = 0.004) and ethical principles (r = 0.283, n = 86, p = 0.008) all exhibited a statistically significant relationship. Regression analysis with R = 0.405, R² = 0.164 and adjusted R² = 0.134 indicated that all hypothesized variables were significant predictors of MSME performance. Based on findings, this study rejected the null hypothesis, confirming a moderately positive and significant relationship between Islamic financial principles and MSME performance.

This study underscores the importance of active involvement from key stakeholders such as the Uganda Halal Bureau, Uganda Muslim Supreme Council, Islamic financial institutions and government agencies in integrating robust support mechanisms for MSMEs into their strategic frameworks. Such efforts could enhance Uganda’s economic landscape, aligning with the experiences of Malaysia and Indonesia in leveraging Islamic principles for economic growth.

The aim of this paper is to examine a model that combines barriers, drivers, government responses, recovery expectations, expected future changes in performance and the extent of digitalisation as a moderator in SMEs.

This study uses exploratory causal methodologies. The study employs a quantitative methodology based on utilising an electronic questionnaire to gather the opinions of home workers and entrepreneurs in Jordan. The cross-sectional data collection approach was conducted in a single time frame, and a total of 1,179 valid questionnaires were analysed using Smart PLS along with SPSS.

The findings demonstrate that the barriers lower the expectations of recovering performance, whilst the drivers and government responses raise the expectations of both performance recovery and change in performance. Concerning digitalisation, this study discovered that firms going digital had a significant positive direct impact on expectations of performance change. This paper also found that expectations of performance change are significantly positively impacted by the interaction between drivers and digitalisation. However, the moderating influence of digitalisation on the positive impact of government responses on expectations of performance change was not verified.

The study's conclusions led to the formulation of several policy recommendations aimed at easing the burden on SMEs.

This study adds something new to the body of knowledge on SMEs by investigating the effects of barriers, drivers and government responses on expectations of performance recovery and the expected future change in performance moderated by digitalisation.

This paper aims to design an active shock absorber scheme for use in conjunction with a passive shock absorber to suppress the horizontal vibration of elevator cars in a smaller range and shorter time. The developed active shock absorber will also improve the safety and comfort of passengers driving in ultra-high-speed elevators.

A six-degree of freedom dynamic model is established according to the position and condition of the car. Then the active shock absorber and disturbance compensation-based adaptive control scheme are designed and simulated in MATLAB/Simulink. The results are analysed and compared with the traditional shock absorber.

The results show that, compared with traditional spring-based passive damping systems, the designed active shock absorber can reduce vibration displacement by 60%, peak acceleration by 50% and oscillation time by 2/3 and is more robust to different spring stiffness, damping coefficient and load.

The developed active shock absorber and its control algorithm can significantly reduce vibration amplitude and converged time. It can also adjust the damping strength according to the actual load of the elevator car, which is more suitable for high-speed elevators.

Fractional Fokker-Planck equation (FFPE) and time fractional coupled Boussinesq-Burger equations (TFCBBEs) play important roles in the fields of solute transport, fluid dynamics, respectively. Although there are many methods for solving the approximate solution, simple and effective methods are more preferred. This paper aims to utilize Laplace Adomian decomposition method (LADM) to construct approximate solutions for these two types of equations and gives some examples of numerical calculations, which can prove the validity of LADM by comparing the error between the calculated results and the exact solution.

This paper analyzes and investigates the time-space fractional partial differential equations based on the LADM method in the sense of Caputo fractional derivative, which is a combination of the Laplace transform and the Adomian decomposition method. LADM method was first proposed by Khuri in 2001. Many partial differential equations which can describe the physical phenomena are solved by applying LADM and it has been used extensively to solve approximate solutions of partial differential and fractional partial differential equations.

This paper obtained an approximate solution to the FFPE and TFCBBEs by using the LADM. A number of numerical examples and graphs are used to compare the errors between the results and the exact solutions. The results show that LADM is a simple and effective mathematical technique to construct the approximate solutions of nonlinear time-space fractional equations in this work.

This paper verifies the effectiveness of this method by using the LADM to solve the FFPE and TFCBBEs. In addition, these two equations are very meaningful, and this paper will be helpful in the study of atmospheric diffusion, shallow water waves and other areas. And this paper also generalizes the drift and diffusion terms of the FFPE equation to the general form, which provides a great convenience for our future studies.

The empirical studies of the options market efficiency have reported contradictory results, which sometimes confuse practitioners and academicians. The aim of this study was to clarify several aspects of options market efficiency by exploring the answers to two main questions: Under what conditions is the options market more efficient? Are the discrepancies in the estimated efficiency due to the reality of efficiency or mismeasurement?

Using a meta-analysis approach, 54 studies have been analyzed, which included 1,315 tests. The sum of the observations for all of the tests is 3.7 m observation sets. The effect size (type r) has been used to compare the different statistics in different studies. The cumulative effect size and its diversification have been calculated by the random effects model and Q statistic, respectively.

The most interesting finding of the study was that the options market, in all circumstances, is significantly inefficient. Another important finding was that the heterogeneity of options market efficiency is due to the complexity of pricing relations, test time, violation index and price type. To overcome this heterogeneity and accuracy, future studies should test the no-arbitrage options pricing relations at different times and by different price types, using complex and simple pricing relations and either mean violation or violation ratio efficiency measures.

Public disagreement about the options market efficiency in past studies means that this variable is heterogeneous in different conditions. As a significant contribution, this study develops the literature by proposing the causes of options market efficiency heterogeneity.