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Soft robots are known for their excellent safe interaction ability and promising in surgical applications for their lower risks of damaging the surrounding organs when operating than their rigid counterparts. To explore the potential of soft robots in cardiac surgery, this paper aims to propose an adaptive iterative learning controller for tracking the irregular motion of the beating heart.

In continuous beating heart surgery, providing a relatively stable operating environment for the operator is crucial. It is highly necessary to use position-tracking technology to keep the target and the surgical manipulator as static as possible. To address the position tracking and control challenges associated with dynamic targets, with a focus on tracking the motion of the heart, control design work has been carried out. Considering the lag error introduced by the material properties of the soft surgical robotic arm and system delays, a controller design incorporating iterative learning control with parameter estimation was used for position control. The stability of the controller was analyzed and proven through the construction of a Lyapunov function, taking into account the unique characteristics of the soft robotic system.

The tracking performance of both the proportional-derivative (PD) position controller and the adaptive iterative learning controller are conducted on the simulated heart platform. The results of these two methods are compared and analyzed. The designed adaptive iterative learning control algorithm for position control at the end effector of the soft robotic system has demonstrated improved control precision and stability compared with traditional PD controllers. It exhibits effective compensation for periodic lag caused by system delays and material characteristics.

Tracking the beating heart, which undergoes quasi-periodic and complex motion with varying accelerations, poses a significant challenge even for rigid mechanical arms that can be precisely controlled and makes tracking targets located at the surface of the heart with the soft robot fraught with considerable difficulties. This paper originally proposes an adaptive interactive learning control algorithm to cope with the dynamic object tracking problem. The algorithm has theoretically proved its convergence and experimentally validated its performance at the cable-driven soft robot test bed.

This study aims to study the thermal identification issue by harvesting both solar energy and atmospheric thermal updraft for a solar-powered unmanned aerial vehicle (SUAV) and its electric energy performance under continuous soaring conditions.

The authors develop a specific dynamic model for SUAVs in both soaring and cruise modes. The support vector machine regression (SVMR) is adopted to estimate the thermal position, and it is combined with feedback control to implement the SUAV soaring in the updraft. Then, the optimal path model is built based on the graph theory considering the existence of several thermals distributed in the environment. The procedure is proposed to estimate the electricity cost of SUAV during flight as well as soaring, and making use of dynamic programming to maximize electric energy.

The simulation results present the integrated control method could allow SUAV to soar with the updraft. In addition, the proposed approach allows the SUAV to fly to the destination using distributed thermals while reducing the electric energy use.

Two simplified dynamic models are constructed for simulation considering there are different flight mode. Besides, the data-driven-based SVMR method is proposed to support SUAV soaring. Furthermore, instead of using length, the energy cost coefficient in optimization problem is set as electric power, which is more suitable for SUAV because its advantage is to transfer the three-dimensional path planning problem into the two-dimensional.

Contemporary technological disruptions are espoused as though they stimulate sustainable growth in the built environment through the Green Internet of Things (G-IoT). Learning from discipline-specific experiences, this paper articulates recent advancements in the knowledge and concepts of G-IoT in relation to the construction and smart city sectors. It provides a scoping review for G-IoT as an overlooked dimension. Attention was paid to modern circularity, cleaner production and sustainability as key benefits of G-IoT adoption in line with the United Nations’ Sustainable Development Goals (UN-SDGs). In addition, this study also investigates the current application and adoption strategies of G-IoT.

This study uses the Preferred Reporting Items for Systematic and Meta-Analyses (PRISMA) review approach. Resources are drawn from Scopus and Web of Science repositories using apt search strings that reflect applications of G-IoT in the built environment in relation to construction management, urban planning, societies and infrastructure. Thematic analysis was used to analyze pertinent themes in the retrieved articles.

G-IoT is an overlooked dimension in construction and smart cities so far. Thirty-three scholarly articles were reviewed from a total of 82 articles retrieved, from which five themes were identified: G-IoT in buildings, computing, sustainability, waste management and tracking and monitoring. Among other applications, findings show that G-IoT is prominent in smart urban services, healthcare, traffic management, green computing, environmental protection, site safety and waste management. Applicable strategies to hasten adoption include raising awareness, financial incentives, dedicated work approaches, G-IoT technologies and purposeful capacity building among stakeholders. The future of G-IoT in construction and smart city research is in smart drones, building information modeling, digital twins, 3D printing, green computing, robotics and policies that incentivize adoption.

This study adds to the normative literature on envisioning potential strategies for adoption and the future of G-IoT in construction and smart cities as an overlooked dimension. No previous study to date has reviewed pertinent literature in this area, intending to investigate the current applications, adoption strategies and future direction of G-IoT in construction and smart cities. Researchers can expand on the current study by exploring the identified G-IoT applications and adoption strategies in detail, and practitioners can develop implementation policies, regulations and guidelines for holistic G-IoT adoption.

This study explores whether targeted microcredit can effectively alleviate households’ multidimensional relative poverty (MdRP) in rural China in the new era following the poverty elimination campaign and discusses it from a gendered perspective.

This study applies a fixed-effects model, propensity score matching (PSM) and two-stage instrumental variable method to two-period panel data collected from 611 households in rural western China in 2018 and 2021 to explore the effects, mechanisms and heterogenous performance of targeted microcredit on households’ MdRP in the new era.

(i) Targeted microcredit can alleviate MdRP among rural households in the new era, mainly by reducing income and opportunity inequality. (ii) Targeted microcredit can promote women’s empowerment, mainly by enhancing their social participation, thereby helping alleviate households’ MdRP. The effect of the targeted microcredit on MdRP is more significant in medium-educated women households and non-left-behind women households. (iii) The MdRP alleviation effect is stronger in villages with a high degree of digitalization.

Learn from the experience of targeted microcredit. Accurately identify poor groups and integrate loan design into financial health and women empowerment. Particularly, pay attention to less-educated and left-behind women households and strengthen coordination between targeted microcredit and digital village strategies.

This study clarifies the effect of targeted microcredit on women’s empowerment and households’ MdRP alleviation in the new era. It also explores its various effects on households with different female characteristics and regional digitalization levels, providing ideas for optimizing microcredit.

Amidst the complicated nature of the UAE’s facilities management (FM) industry, the need to recalibrate the existing performance measurement (PM) system measures and criteria has been resonating to ensure their ability to capture the FM industry trends and dynamics, thus enhancing organizational excellence. Therefore, this research aimed to propose a specific PM tool to the country’s FM industry to accurately assess performance and establish strategic enhancements.

The study reviewed literature on the available PM systems to gather the available measures, which were presented to a focus group of seven participants, who were purposively selected based on their expertise in FM and PM implementation in the UAE to adjust them and add ones relevant to the UAE’s FM industry.

The focus group conducted various changes, from retaining certain measures and criteria, renaming them to simplify or make them more representative of the industry, ranking them based on their importance to limit their numbers, to finally categorizing them as enablers or results. Consequently, the final proposed tool was composed of nine dimensions with 51 measures as performance enablers and three dimensions with 11 measures as performance results. Seven measures were added by the experts, who highlighted their increasing popularity in the UAE’s FM industry.

Through addressing the critical void in literature, this paper develops a specific PM tool aligning with the intricacy of the UAE’s FM industry, thus providing proactive contribution to the industry’s effective and sustainable growth.

Maintaining the safety of the human is a major concern in factories where humans co-exist with robots and other physical tools. Typically, the area around the robots is monitored using lasers. However, lasers cannot distinguish between human and non-human objects in the robot’s path. Stopping or slowing down the robot when non-human objects approach is unproductive. This research contribution addresses that inefficiency by showing how computer-vision techniques can be used instead of lasers which improve up-time of the robot.

A computer-vision safety system is presented. Image segmentation, 3D point clouds, face recognition, hand gesture recognition, speed and trajectory tracking and a digital twin are used. Using speed and separation, the robot’s speed is controlled based on the nearest location of humans accurate to their body shape. The computer-vision safety system is compared to a traditional laser measure. The system is evaluated in a controlled test, and in the field.

Computer-vision and lasers are shown to be equivalent by a measure of relationship and measure of agreement. R² is given as 0.999983. The two methods are systematically producing similar results, as the bias is close to zero, at 0.060 mm. Using Bland–Altman analysis, 95% of the differences lie within the limits of maximum acceptable differences.

In this paper an original model for future computer-vision safety systems is described which is equivalent to existing laser systems, identifies and adapts to particular humans and reduces the need to slow and stop systems thereby improving efficiency. The implication is that computer-vision can be used to substitute lasers and permit adaptive robotic control in human–robot collaboration systems.

This paper aims to discuss the practical dilemmas of institutional change to tackle the climate crisis in a UK university, identifying key assumptions and issues that block meaningful change. The research was part of an initiative to define a theory of change (ToC) to meet the university’s institutional climate commitments.

The findings are based on interviews with members of an inter-disciplinary ToC working group, a staff–student climate coalition and student representatives at the university. Interviewees were purposively selected to gain insights into assumptions about the nature of the university and its role in tackling the climate crisis, which must be addressed for the university to effectively implement its climate plan.

This paper identified tensions between the university’s role as a public and commercial institution, a lack of clarity over decision-making processes and the difficulties in balancing (and being transparent about) actions with commitments to tackle the climate crisis. A democratic and flexible approach to change is essential to mitigate these issues, providing an opportunity to reflect on the diversity of the university community and openly debate goals and commitments.

In setting out the initial steps of a ToC in a UK university, this paper offers practical insights for higher education institutions looking to change practices. By highlighting assumptions at a particular institution, this paper also contributes a level of granularity to a growing field of research on efforts in higher education institutions to tackle the climate crisis.

Designing and developing responsible business practices can create various tensions for service organizations. The purpose of this research is to develop a deeper understanding of the relationship between customer engagement (CE) and responsible business practices (e.g. environmental, social and/or governance [ESG], corporate social responsibility [CSR] and diversity, equity, and inclusion [DEI]) and explore customer engagement tensions that service organizations may face.

This research develops a list of CE-related responsible business practice tensions and empirically explores their relevance through in-depth interviews with nine ESG professionals.

This paper makes three important contributions. First, we find support for nine distinct but related tensions with implications for CE that organizations must navigate when pursuing responsible business practices. Second, interview participants provide some suggestions for tackling these tensions, which we support with relevant theories. Finally, we develop a conceptual framework that may stimulate future service research and inform the implementation of ESG strategies.

To the best of the authors’ knowledge, this research is the first to conceptualize and empirically explore the tensions that emerge between responsible business practices and CE. The authors develop a novel analysis of the CE-related tensions that emerge when pursuing an ESG strategy.

The findings are based on a small sample of ESG professionals. Future research may take a quantitative approach to further evaluate the role that these tensions play in engaging customers.

This research provides a conceptual framework that may guide ESG professionals in understanding, framing and navigating CE-related tensions when pursuing responsible business practices.

A social benefit may be found when service organizations are better able to successfully navigate CE-related tensions when pursuing responsible business practices.

This paper delves into the critical role of women in the domains of architecture, engineering, construction and urban planning, particularly within the context of the United Nations sustainable development goals (SDGs) and the imperative of achieving gender parity. Concentrating on the Gulf Cooperation Council (GCC) countries, this paper explores the profound importance of women as essential contributors to urbanisation and sustainable development. It scrutinizes the existing gender disparities within the architecture, engineering and construction (AEC) industries; evaluates prevailing women empowerment indices in diverse sectors; and presents a strategic framework for harnessing women’s engagement to cultivate inclusive and sustainable urban cultures in the GCC. This conceptual paper introduces an actionable framework that can serve as a guiding agenda for empowering women in the AEC sectors by incorporating their socio-cultural, economic and ecological contributions towards creating sustainable cities.

Centring its focus on Gulf Cities, this paper employs a comprehensive approach to examine the current gender disparities within the architecture, engineering and construction sectors. It probes potential barriers and advocates for leveraging women’s participation to foster inclusive and sustainable urban development in the GCC. The study introduces the Women’s Empowerment Index (WEI) for the Gulf AEC industry elucidating how these measures are translated into a tailored framework.

The paper presents a practical framework that provides actionable guidance for engaging various stakeholders, including governments, academia and industry players, to empower women within the AEC industries. An “Agenda for equitable AEC industries for sustainable urban development: Our Common Gulf Cities” is culminated in a Women Empowerment Index for the AEC Industry (WEI-AEC) designed to serve as a guidance tool to monitor progress within industry, governments and academia.

Future research endeavours could advance the framework by conducting institutional support analyses, multi-stakeholder collaboration studies and practical testing of the framework within real-world scenarios.

The findings of this study can guide and influence a diverse range of initiatives, including policy development, educational strategies, corporate endeavours, awareness campaigns, capacity-building programs, skill enhancement initiatives and knowledge exchange among the Gulf Cooperation Council countries.

This conceptual paper introduces a practical framework that can serve as a roadmap for implementing the study’s potential to shape policies, educational programs and corporate initiatives aimed at advancing both gender equality and the development of sustainable cities.

This study aims to focus on the five most relevant and discursive emerging technologies in accounting (cloud computing, big data and data analytics, blockchain, artificial intelligence (AI) and robotics process automation [RPA]). It investigates the adoption and use of these technologies based on data collected from accounting professionals in a technology-developed country – Canada, through a survey.

The study investigates the adoption and use of emerging technologies based on data collected from accounting professionals in a technology-developed country – Canada, through a survey. This study considers the said nature and characteristics of emerging technologies and proposes a model using the factors that have been found to be significant and most commonly investigated by existing prior technology-organization-environment (TOE)-related technology adoption studies. This survey applies the TOE framework and examines the influence of significant and most commonly known factors on Canadian firms’ intention to adopt the said emerging technologies.

Study results indicate that Canadian accounting professionals’ self-assessed knowledge (about these emerging technologies) is more theoretical than operational. Cloud computing is highly used by Canadian firms, while the use of other technologies, particularly blockchain and RPA, is reportedly low. However, firms’ intention about the future adoption of these technologies seems positive. Study results reveal that only the relative advantage and top management commitment are found to be significant considerations influencing the adoption intention.

Study findings confirm some results presented in earlier studies but provide additional insights from a new perspective, that of accounting professionals in Canada. The first limitation relates to the respondents. Although accounting professionals provided valuable insights, their responses are personal views and do not necessarily represent the views of other professionals within the same firm or the official position of their accounting departments or firms. Therefore, the exclusion of diverse viewpoints from the same firm might have negatively impacted the results of this study. Second, this study sample is limited to Canada-based firms, which means that the study reflects only the situation in that country. Third, considering the research method and the limit on the number of questions the authors could ask, respondents were only asked to rate the impact of these five technologies on the accounting field and to clarify which technologies are used.

This study’s findings confirm that the organizational intention to adopt new technology is not primarily based on the characteristics of the technology. In the case of emerging technology adoption, the decision also depends upon other factors related to the internal organization. Furthermore, although this study found no support for the effect of environmental factors, it fills a gap in the literature by including the factor of vendor support, which has received little attention in prior information technology (IT)/ information system (IS) adoption research. Moreover, in contrast to most prior adoption studies, this study elaborates on accounting professionals’ experience and perceptions in investigating the organizational adoption and use of emerging technologies. Thus, the findings of this study are valuable, providing insights from a new perspective, that of professional accountants.

The study findings may serve as a guide for researchers, practitioners, firms and other stakeholders, particularly technology providers, interested in learning about emerging technologies’ adoption and use in Canada and/or in a relevant context. Contrary to most prior adoption studies, this study elaborates on accounting professionals’ experience and perceptions in investigating the organizational adoption and use of emerging technologies. Thus, the findings of this study are valuable, providing insights from a new perspective, that of professional accountants.

The study provides insights into the said technologies’ actual adoption and improves the awareness of firms and stakeholders to the effect of some constructs that influence the adoption of these emerging technologies in accounting.