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1. Explore the important role of sole actual controller in the innovation decision of the firm and the different effects of the ownership of sole actual controller on innovation; 2. Explore whether the role played by sole actual controllers varies in different types of firms; 3. Explore the important role of cooperative culture in the internal governance of firms and whether sole actual controller firms feel a rejection effect on cooperative culture.

The authors collect data on Shanghai and Shenzhen A-share listed companies from 2011 to 2021 to analyze the role of the sole actual controller on innovation investment, as well as the moderating effect of cooperative culture in corporate annual reports using natural language processing.

The authors find that sole actual controllers promote corporate innovation investment and that concentrated equity inhibits corporate innovation investment, while dispersed equity concentration promotes it. In addition, cooperative culture has a nonlinear moderating effect on the relationship between SACs and innovation.

On the one hand, this study focuses chiefly on the decision-making behavior of top managers, such as the SACs and shareholders, and does not account for the role of bottom-level employees or professional R&D teams in innovation. On the other hand, although this study discusses the moderating role of corporate cooperative culture, it is limited to internal cooperative culture; cooperative culture should also consider external cooperation, such as cooperation between companies or between companies and universities.

First, companies should actively implement the SAC model and scientifically select a truly compassionate and visionary SAC as the dominant person in the company. Second, the Chinese government needs to standardize the identification of actual controllers, who should not be a shareholder of the company. Third, policymakers should promote the reform of the mixed system of enterprises, optimize the shareholding structure of firms, make executives an important part of corporate governance. Fourth, cooperation culture is a good start, though firms should avoid letting it become a “double-edged sword” of the management mode of the SAC.

First, existing studies do not address the impact of SACs on innovation from the perspective of SACs, who have most influence the firm's decision-making. Focusing on the SAC's decision-making style has sufficient practical implications for future corporate innovation planning. This study used the natural language processing (NLP) module in ChatGPT to analyze the culture of cooperation in corporate annual reports. Currently, corporate culture is an obstacle to the study of corporate governance because of its obscurity and difficulty of quantification. The authors adopted a PSM (propensity score matching) approach to eliminate the endogeneity of the data, which makes the results more scientific.

This paper aims to develope a novel fractional hybrid impedance control (FHIC) approach for high-sensitive contact stress force tracking control of the series elastic muscle-tendon actuator (SEM-TA) in uncertain environments.

In three different cases, the fractional parameters of the FHIC were optimized with the particle swarm optimization algorithm. Its adaptability to the pressure of the sole of the foot on real environments such as grass (soft), carpet (medium) and solid floors (hard) is far superior to traditional impedance control. The main aim of this paper is to derive the dynamic simulation models of the SEM-TA, to develop a control architecture allowing for high-sensitive contact stress force control in three cases and to verify the simulation models and the proposed controller with experimental results. The performance of the optimized controllers was evaluated according to these parameters, namely, maximum overshoot, steady-state error, settling time and root mean squared errors of the positions. Moreover, the frequency robustness analysis of the controllers was made in three cases.

Different simulations and experimental results were conducted to verify the control performance of the controllers. According to the comparative results of the performance, the responses of the proposed controller in simulation and experimental works are very similar.

Origin approach and origin experiment.

This paper aims to present an intelligent motion attitude control algorithm, which is used to solve the poor precision problems of motion-manipulation control and the problems of motion balance of humanoid robots. Aiming at the problems of a few physical training samples and low efficiency, this paper proposes an offline pre-training of the attitude controller using the identification model as a priori knowledge of online training in the real physical environment.

The deep reinforcement learning (DRL) of continuous motion and continuous state space is applied to motion attitude control of humanoid robots and the robot motion intelligent attitude controller is constructed. Combined with the stability analysis of the training process and control process, the stability constraints of the training process and control process are established and the correctness of the constraints is demonstrated in the experiment.

Comparing with the proportion integration differentiation (PID) controller, PID + MPC controller and MPC + DOB controller in the humanoid robots environment transition walking experiment, the standard deviation of the tracking error of robots’ upper body pitch attitude trajectory under the control of the intelligent attitude controller is reduced by 60.37 per cent, 44.17 per cent and 26.58 per cent.

Using an intelligent motion attitude control algorithm to deal with the strong coupling nonlinear problem in biped robots walking can simplify the control process. The offline pre-training of the attitude controller using the identification model as a priori knowledge of online training in the real physical environment makes up the problems of a few physical training samples and low efficiency. The result of using the theory described in this paper shows the performance of the motion-manipulation control precision and motion balance of humanoid robots and provides some inspiration for the application of using DRL in biped robots walking attitude control.

The Howard Shuttering Contractors case throws considerable light on the importance which the tribunals attach to warnings before dismissing an employee. In this case the tribunal took great pains to interpret the intention of the parties to the different site agreements, and it came to the conclusion that the agreed procedure was not followed. One other matter, which must be particularly noted by employers, is that where a final warning is required, this final warning must be “a warning”, and not the actual dismissal. So that where, for example, three warnings are to be given, the third must be a “warning”. It is after the employee has misconducted himself thereafter that the employer may dismiss.

The Equal Pay Act 1970 (which came into operation on 29 December 1975) provides for an “equality clause” to be written into all contracts of employment. S.1(2) (a) of the 1970 Act (which has been amended by the Sex Discrimination Act 1975) provides:

The aim of this paper is to contribute to understanding how measuring intellectual capital (IC) can favor IC mobilization, examining the role of actors who design and implement the system in influencing managers’ IC learning processes and their take up of IC management practices.

A constructive case study, in which the researcher was directly involved in measuring IC, is presented. Kolb's experiential learning theory model examines if and how the actors mobilized IC and how the researcher and controller influenced their learning process.

The paper shows that actors must complete an experiential learning cycle to mobilize IC. The controller's role is pivotal in promoting IC mobilization, provided he/she experiences a deep learning process and he/she moves from “IC counting” to “IC accounting.” The paper also highlights how research intervention contributes to IC mobilization by influencing the actors’ learning process.

The paper is limited to one Italian company, so the results cannot be generalized; they were influenced by the researcher's “strong” interventionist approach and by the model adopted.

Companies introducing IC will become aware of barriers and levers to measuring and mobilizing IC, thus enabling them to devise strategies to avoid the former and take advantage of the latter.

The experiential learning theory model offers an alternative way of understanding how IC measurement produces effects and how the controller and researcher can influence the managers’ IC learning journey thus contributing to mobilization of IC.

The purpose of this paper is to present an improved model and its applied adaptive controller for a waste heat recovery generation system using a power turbine generator (PTG) with an accurate model on shipboard that is employed by an identification method on the basis of an overall system model.

The PTG system has been developed as a waste heat recovery type generation system making use of exhaust gas from the main shipboard diesel engines. Conventionally, control of a plant is exercised using the proportional‐integral‐derivative (PID)‐based controller. The PID controller, however, is difficult to keep in place because of fouling conditions and variations across time. Thus, the load bank controller is proposed using a PID‐based controller. The controller should take into account both the fouling conditions and variations across time because the exhaust gas contains considerable amounts of ash and soot. Hence, an accurate model needs to improve the dynamic characteristics of the PTG system. The identification method clarifies the PTG system. The unknown parameters of the PTG speed model can be estimated using the prediction error method after the mathematical model is transferred to the state‐space model.

Simulation results are verified with measured data of a prototype. In the transient response of the PTG speed, all the errors are within 0.23 percent. The proposed model using the identification method shows the error between the accurate model and the standard to be less than 10 percent. The proposed controller is evaluated by comparing it with the conventional controller. As a result of using the proposed controller, limit speed overshooting is improved by more than 25 percent. Hence, the proposed model is confirmed to have excellent property.

The PTG is an extremely effective system for fuel cost reduction in the face of rising fuel prices, and systems capable of providing several thousand kilowatts are being considered.

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 Government are planning to spend another odd million or two in running a “waste not, want not” campaign to ram down our throats. Just another example of officials being profilgate with taxpayers money, you may think.

In order to succeed in an action under the Equal Pay Act 1970, should the woman and the man be employed by the same employer on like work at the same time or would the woman still be covered by the Act if she were employed on like work in succession to the man? This is the question which had to be solved in Macarthys Ltd v. Smith. Unfortunately it was not. Their Lordships interpreted the relevant section in different ways and since Article 119 of the Treaty of Rome was also subject to different interpretations, the case has been referred to the European Court of Justice.