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To make the robot that have real autonomous ability is always the goal of mobile robot research. For mobile robots, simultaneous localization and mapping (SLAM) research is no longer satisfied with enabling robots to build maps by remote control, more needs will focus on the autonomous exploration of unknown areas, which refer to the low light, complex spatial features and a series of unstructured environment, lick underground special space (dark and multiintersection). This study aims to propose a novel robot structure with mapping and autonomous exploration algorithms. The experiment proves the detection ability of the robot.

A small bio-inspired mobile robot suitable for underground special space (dark and multiintersection) is designed, and the control system is set up based on STM32 and Jetson Nano. The robot is equipped with double laser sensor and Ackerman chassis structure, which can adapt to the practical requirements of exploration in underground special space. Based on the graph optimization SLAM method, an optimization method for map construction is proposed. The Iterative Closest Point (ICP) algorithm is used to match two frames of laser to recalculate the relative pose of the robot, which improves the sensor utilization rate of the robot in underground space and also increase the synchronous positioning accuracy. Moreover, based on boundary cells and rapidly-exploring random tree (RRT) algorithm, a new Bio-RRT method for robot autonomous exploration is proposed in addition.

According to the experimental results, it can be seen that the upgraded SLAM method proposed in this paper achieves better results in map construction. At the same time, the algorithm presents good real-time performance as well as high accuracy and strong maintainability, particularly it can update the map continuously with the passing of time and ensure the positioning accuracy in the process of map updating. The Bio-RRT method fused with the firing excitation mechanism of boundary cells has a more purposeful random tree growth. The number of random tree expansion nodes is less, and the amount of information to be processed is reduced, which leads to the path planning time shorter and the efficiency higher. In addition, the target bias makes the random tree grow directly toward the target point with a certain probability, and the obtained path nodes are basically distributed on or on both sides of the line between the initial point and the target point, which makes the path length shorter and reduces the moving cost of the mobile robot. The final experimental results demonstrate that the proposed upgraded SLAM and Bio-RRT methods can better complete the underground special space exploration task.

Based on the background of robot autonomous exploration in underground special space, a new bio-inspired mobile robot structure with mapping and autonomous exploration algorithm is proposed in this paper. The robot structure is constructed, and the perceptual unit, control unit, driving unit and communication unit are described in detail. The robot can satisfy the practical requirements of exploring the underground dark and multiintersection space. Then, the upgraded graph optimization laser SLAM algorithm and interframe matching optimization method are proposed in this paper. The Bio-RRT independent exploration method is finally proposed, which takes shorter time in equally open space and the search strategy for multiintersection space is more efficient. The experimental results demonstrate that the proposed upgrade SLAM and Bio-RRT methods can better complete the underground space exploration task.

The purpose of this paper is to investigate the extent to which interdisciplinary (HASS, i.e. non-STEM) factors—in particular, accounting, stakeholder management and accountability—enable, influence and motivate large human exploration ventures, principally in maritime and space fields, utilizing Columbus’s and Chinese explorations of the 1400s as the primary setting.

The study analyzes archival data from narrative and interpretational history, including both academic and non-academic sources, that relate to two global historical events, the Columbus and Ming Chinese exploration eras (c. 1400–1500), as a parallel to the modern “Space Race”. Existing studies on pertinent HASS (Humanities and Social Sciences) and STEM (Science, Technology, Engineering and Mathematics) enablers, influencers and motivators are utilized in the analysis. The authors draw upon the concepts of stakeholder theory and the construct of accountability in their analysis.

Findings suggest that non-STEM considerations—politics, finance, accountability, culture, theology and others—played crucial roles in enabling Western Europe (Columbus) to reach the Americas before China or other global powers, demonstrating the pivotal importance of HASS factors in human advancements and exploration.

In seeking to answer those questions, this study identifies only those factors (HASS or STEM) that may support the success or failure in execution of the exploration and development of a region such as the New World or Space. Moreover, the study has the following limitation. Relative successes, failures, drivers and enablers of exploratory ventures are drawn almost exclusively from the documented historical records of the nations, entities and individuals (China and Europe) who conducted those ventures. A paucity of objective sources in some fields, and the need to set appropriate boundaries for the study, also necessitate such limitation.

It is observable that many of those HASS factors also appear to have been influencers in modern era Space projects. For Apollo and Soyuz, success factors such as the relative economics of USA and USSR, their political ideologies, accountabilities and organizational priorities have clear echoes. What the successful voyages of Columbus and Apollo also have in common is an appetite to take risks for an uncertain return, whether as sponsor or voyager; an understanding of financial management and benefits measurement, and a leadership (Isabella I, John F. Kennedy) possessing a vision, ideology and governmental apparatus to further the venture’s goals.

Whilst various historical studies have examined influences behind the oceangoing explorations of the 1400s and the colonization of the “New World”, this article takes an original approach of analyzing those motivations and other factors collectively, in interdisciplinary terms (HASS and STEM). This approach also has the potential to provide a novel method of examining accountability and performance in modern exploratory ventures, such as crewed space missions.

The primary objective of this paper is to explore how space organizations can incorporate children and imagination in their accountability-based accounting and decision-making processes.

This study centers on stakeholder engagement with children, specifically examining the drawing competition associated with the CHaracterising ExOPlanet Satellite (CHEOPS) space exploration mission. We employ a multidimensional research design consisting of both an interpretive approach to the 2,748 space-related drawings submitted by children across Europe to the CHEOPS drawing competition in 2015 and a content analysis of 46 media releases published by ESA and the University of Bern, the key partners of the CHEOPS mission.

Our analysis of the children’s drawings and the CHEOPS media releases indicates that the related organizations account for some of the children’s visions and imaginations, but shortcomings exist in addressing the ethical and space environmental concerns related to space exploration. We explore implications for the space accounting agenda by applying the critical dialogic accountability framework proposed by Dillard and Vinnari (2019), which allows for a discussion on an outline for action by incorporating intergenerational equity (Thomson et al., 2018) and moral imagination (Werhane, 1999).

This study offers a novel exploration of a largely overlooked yet crucial stakeholder group: children. By focusing on their unique perspectives and imaginative capabilities, the paper brings forth the voices of those who will inherit the future of space exploration. Employing children’s drawings as a medium of symbolic communication, this research study offers fresh insights into their perceptions, particularly relevant to space accounting. This innovative approach not only enriches the literature on stakeholder engagement and accountability but also provides space organizations with valuable guidance on fostering inclusivity and ensuring that the interests of future generations are considered in decision-making processes.

A major obstacle regarding the measurement of an organization's sustainability and accountability in the space economy is defining the context and boundaries of commercial activity in outer space. Here, we introduce an ecosystem framework to address this obstacle. We utilize this framework to analyze the space mining sector. Our ecosystem framework sets the space mining sector's boundaries and helps a firm identify key stakeholders, activities, policies, norms and common pool resources in that sector and the interactions between them; a significant step in structuring how to measure space sustainability and accountability.

Borrowing theories and perspectives from a wide range of academic fields, this paper conducts a comprehensive context analysis of the space mining ecosystem.

Using our ecosystem framework to define the context and set boundaries for the space mining sector allowed us to identify sustainability-related issues in the sector and offer roadmaps to develop sustainability measures and standards.

To the best of the authors’ knowledge, this is one of the first papers to introduce a framework to define boundaries in the global space economy and provides a tool to understand, measure and evaluate the space mining sector's environmental, social and economic issues.

The purpose of this paper is to demonstrate how critical realism can be mobilised as a meta-theory, or philosophical under-labourer, for research on space accounting and how this may further inquiries into the known as well as the unknown implications of space exploration and commercialisation.

This is a conceptual paper that applies critical realism to the field of space accounting using cost management in space contracts as an illustrative example.

Adopting a naturalised version of critical realism that recognises the complex interplay between natural and social realities, the author nuances the distinction between intransitive and transitive objects of knowledge and advances a framework that may be used as a starting point for a transfactual mode of reasoning. The author then applies this mode of reasoning to the topic of cost management in the space sector and illustrates how it may enhance our insights into what causes cost overruns in space contracts.

By adopting a naturalised version of critical realism, the author establishes a philosophical framework that can support the broadly based, inter-disciplinary research agenda that has been envisaged for research on space accounting and possibly inform policy development.

This paper is the first to apply a critical realist perspective to space accounting and lays a philosophical foundation for future research on the topic.

New Space activities offer benefits for human progress and life beyond the Earth. However, there is a risk that the New Space Economy may develop according to an anthropocentric mindset favouring human progress and survival at the expense of all other species and the environment. This mindset raises concerns over the social and environmental impacts of space activities and the accountability of space actors. This research article explores the accountability of space actors by presenting a pluralistic accountability framework to understand, inspire and change accountability in the New Space Economy. This study also identifies future research opportunities.

This paper is a reflective and normative essay. The arguments are developed using contemporary multidisciplinary academic literature, publicly available evidence and examples. Further, the authors use Dillard and Vinnari's accountability framework to examine a pluralistic accountability system for space businesses.

The New Space Economy requires public and private entities to embrace hybrid and pluralistic accountability for their social and environmental impacts. A new way of seeing the relationship between human life, the Earth and celestial space is needed. Accounting language is used to mirror and mobilise broader forms of responsibility in those involved in space.

This paper responds to the AAAJ's special issue call for examining how accountability can be ensured in the New Space Age. The space activities businesses conduct, and the anthropocentric view inspiring their race toward space is concerning. Hence, the authors advocate the need for rethinking accountability between humans and nature. The paper contributes to fostering the debate on social and environmental accounting and the accountability of space actors in the New Space Economy. To this end, the authors use a pluralistic accountability framework to help understand how the New Space Economy can face the risks emanating from its anthropocentric mindset.

The purpose of this paper is to consider the ethical and environmental implications of allowing space resource extraction to disrupt existing fuel economies, including how companies can be held accountable for ensuring the responsible use of their space assets. It will also briefly consider how such assets should be taxed, and the cost/benefit analyses required to justify the considerable expense of supporting this emerging space industry.

This paper adopts theoretical bioethics methodologies to explore issues of normative ethics and the formulation of moral rules to govern individual, collective and institutional behaviour. Specifically, it considers social justice and social contract theory, consequentialist and deontological accounts of ethical evaluation. It also draws on sociological and organisational literature to discuss Dowling and Pfeffer’s (1975) and Suchman’s (1995) theories of pragmatic, cognitive and moral legitimacy as they may be applied to off-world mining regulations and the handling of space assets.

The findings of this conceptual paper indicate there is both a growing appetite for tighter resource extraction regulations to address climate change and wealth concentration globally, and an opportunity to establish and legitimise new ethical norms for commercial activity in space that can avoid some of the challenges currently facing fossil fuel divestment movements on Earth.

By adopting methodologies from theoretical bioethics, sociology and business studies, including applying a legitimacy lens to the issue of off-world mining, this paper synthesises existing knowledges from these fields and brings them to the new context of the future space resource economy.

Urban green spaces support people to approach active, healthy ageing, especially in high-density cities where they compensate for limited private living spaces. This research paper aims to examine how urban green spaces support active, healthy ageing by exploring correlations between behaviour, physical setting and gender difference among older people in a highly populated urban context.

Urban parks in older neighbourhoods of Macau were selected for data collection. Photographic documentation was used to collect data, with 1,201 older people photographed identified as valid samples. Each was coded according to labels of behaviour, physical setting and gender. Chi-squared tests were conducted to assess correlations between behaviours and features of physical settings, and differences between genders in behaviours and physical settings. Logistic regression analysis was conducted to further examine associations between older people's behaviours and features of physical settings by gender.

The research reveals types and frequency of behaviours displayed, preferred environmental features for different behaviours and gender differences in behaviours and preferred environmental features. Design principles targeting active, healthy ageing should consider particular amenities and street furniture, the arrangement of trees and landscapes and the integration of open and secluded places.

Previous studies address older people's behaviour from the perspective of either environmental influence or gender difference, but there have been few studies on gendered behavioural differences among older people in urban green spaces. Analysing the behaviour–physical setting–gender relationship provides more evidence in the field of built environment studies.

The paper’s purpose is to consider, using a transaction cost economics (TCE) framework, the mechanisms used by space agencies to encourage private investment in the commercial spaceflight sector.

The authors conducted a content analysis of 554 pages of news articles, relating to issues pertaining to partnerships between national government-based space agencies and private space travel providers, published over a 20-year period. Leximancer was used to initially screen the data and then the authors manually analysed the content to identify themes.

The data analysis revealed three themes, relating to: the uncertainty of space travel; National Aeronautics and Space Administration (NASA) stimulating innovation in the private sector; and risk, insurance and regulation. These themes informed by TCE reveal the “hierarchical” organisational forms used to achieve human spaceflight and then the “hybrids”, insurance and regulations used to stimulate private sector investment and innovation.

This paper contributes to the accounting literature by answering the calls of Alewine (2020) and Tucker and Alewine (2022a, b) for more research into accounting in the space context. Specifically, the paper contributes by identifying mechanisms used by NASA to stimulate private investment in the space travel sector, as well as issues that have affected the implementation of these mechanisms. The paper also contributes to the literature by, based on the analysis, identifying a series of reflections designed to stimulate further management accounting research in the space context.

The present paper aims to address challenges associated with path planning and obstacle avoidance in mobile robotics. It introduces a pioneering solution called the Bi-directional Adaptive Enhanced A* (BAEA*) algorithm, which uses a new bidirectional search strategy. This approach facilitates simultaneous exploration from both the starting and target nodes and improves the efficiency and effectiveness of the algorithm in navigation environments. By using the heuristic knowledge A*, the algorithm avoids unproductive blind exploration, helps to obtain more efficient data for identifying optimal solutions. The simulation results demonstrate the superior performance of the BAEA* algorithm in achieving rapid convergence towards an optimal action strategy compared to existing methods.

The paper adopts a careful design focusing on the development and evaluation of the BAEA* for mobile robot path planning, based on the reference [18]. The algorithm has remarkable adaptability to dynamically changing environments and ensures robust navigation in the context of environmental changes. Its scale further enhances its applicability in large and complex environments, which means it has flexibility for various practical applications. The rigorous evaluation of our proposed BAEA* algorithm with the Bidirectional adaptive A* (BAA*) algorithm [18] in five different environments demonstrates the superiority of the BAEA* algorithm. The BAEA* algorithm consistently outperforms BAA*, demonstrating its ability to plan shorter and more stable paths and achieve higher success rates in all environments.

The paper adopts a careful design focusing on the development and evaluation of the BAEA* for mobile robot path planning, based on the reference [18]. The algorithm has remarkable adaptability to dynamically changing environments and ensures robust navigation in the context of environmental changes. Its scale further enhances its applicability in large and complex environments, which means it has flexibility for various practical applications. The rigorous evaluation of our proposed BAEA* algorithm with the Bi-directional adaptive A* (BAA*) algorithm [18] in five different environments demonstrates the superiority of the BAEA* algorithm.

The rigorous evaluation of our proposed BAEA* algorithm with the BAA* algorithm [18] in five different environments demonstrates the superiority of the BAEA* algorithm. The BAEA* algorithm consistently outperforms BAA*, demonstrating its ability to plan shorter and more stable paths and achieve higher success rates in all environments.

The originality of this paper lies in the introduction of the bidirectional adaptive enhancing A* algorithm (BAEA*) as a novel solution for path planning for mobile robots. This algorithm is characterized by its unique characteristics that distinguish it from others in this field. First, BAEA* uses a unique bidirectional search strategy, allowing to explore the same path from both the initial node and the target node. This approach significantly improves efficiency by quickly converging to the best paths and using A* heuristic knowledge. In particular, the algorithm shows remarkable capabilities to quickly recognize shorter and more stable paths while ensuring higher success rates, which is an important feature for time-sensitive applications. In addition, BAEA* shows adaptability and robustness in dynamically changing environments, not only avoiding obstacles but also respecting various constraints, ensuring safe path selection. Its scale further increases its versatility by seamlessly applying it to extensive and complex environments, making it a versatile solution for a wide range of practical applications. The rigorous assessment against established algorithms such as BAA* consistently shows the superior performance of BAEA* in planning shorter paths, achieving higher success rates in different environments and cementing its importance in complex and challenging environments. This originality marks BAEA* as a pioneering contribution, increasing the efficiency, adaptability and applicability of mobile robot path planning methods.