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In complex environments, a spherical robot has great application value. When the pendulum spherical robot is stopped or disturbed, there will be a periodic oscillation. This situation will seriously affect the stability of the spherical robot. Therefore, this paper aims to propose a control method based on backstepping and disturbance observers for oscillation suppression.

This paper analyzes the mechanism of oscillation. The oscillation model of the spherical robot is constructed and the relationship between the oscillation and the internal structure of the sphere is analyzed. Based on the oscillation model, the authors design the oscillation suppression control of the spherical robot using the backstepping method. At the same time, a disturbance observer is added to suppress the disturbance.

It is found that the control system based on backstepping and disturbance observer is simple and efficient for nonlinear models. Compared with the PID controller commonly used in engineering, this control method has a better control effect.

The proposed method can provide a reliable and effective stability scheme for spherical robots. The problem of instability in real motion is solved.

In this paper, the oscillation model of a spherical robot is innovatively constructed. Second, a new backstepping control method combined with a disturbance observer for the spherical robot is proposed to suppress the oscillation.

This study aims to investigate the impact of supply chain concentration (SCC) on corporate research and development (R&D) investment and determine the moderating roles of industry concentration and financing constraints on the relationship between SCC and R&D investment.

The study collected data from Chinese listed companies, used the fixed effects model to test the research hypotheses and further used the two-stage Heckman test and propensity score matching (PSM) to address potential endogeneity issues.

The result reveals a negative impact of SCC on corporate R&D investment. In addition, industry concentration mitigates the negative impact of SCC on corporate R&D investment, but financing constraints strengthen the negative impact.

This study introduces the concept of SCC and empirically tests its effect on R&D investment, further explaining the lack of corporate innovation. This study inspires companies to strengthen SC management and weigh the level of SCC with environmental factors.

In 2022, the new normal era began to experience an increase in the number of tourists visiting Bali. Even though spiritual tourism was optimistic in attracting foreign visitors, most tourists come from nearby nations like Australia, indicating that the visits had a brief duration in this new era. To sustain the income of spiritual tourism advocates, it is possible to overcome the brief visit. Therefore, this study aims to analyze the collaboration of digitalized spiritual tourism activities in 2022. Data were collected through literature study, observation and in-depth interviews to determine the spiritual tourism hybrid business. The result showed that the digitalization of spiritual tourism builds an on-off hybrid method in marketing and products, thus developing a theory of the characteristics. This on-off hybrid provides a touch of experience for tourists to visit directly. Therefore, digitalization builds the resilience of spiritual tourism in the new normal era through marketing and service of hybrid products.

The gap between word-of-mouth marketing habits, direct product service and the tendency to digitize creates adaptation problems that take time. These problems make a practical contribution to building marketing and spiritual tourism products. The theoretical contribution is to build integrated marketing and spiritual tourism digital product concepts. A qualitative research method was adopted because the population of spiritual tourism is very limited. Therefore, it needs to be explored through experienced and knowledgeable informants. Literature study, observation and in-depth interviews were used to collect data. The literature study technique collects data from written sources, namely books, articles and internet sources. Observations were made by analyzing non-participants by recording various marketing activities and services for spiritual tourism products. Additionally, in-depth interviews were conducted with informants about digitalization in the new normal era.

The result showed that the digitalization of spiritual tourism builds an on-off hybrid method in marketing and products, thus developing a theory of the characteristics. This on-off hybrid provides a touch of experience for tourists to visit directly. Therefore, digitalization builds the resilience of spiritual tourism in the new normal era through marketing and service of hybrid products.

The method has successfully built digital and direct visit products. Digital products share knowledge, while direct visit products serve to gain hands-on experience. These products provide income for spiritual tourism actors. However, direct visit products are more emphasized to spread income, such as hotels, restaurants and souvenirs. This development provides a theoretical implication that the characteristics of tourism products can be enjoyed at the service provider’s premises and the area of origin of tourists with digital technology. Therefore, digitalization has changed the theory of the characteristics of tourism products from having to be enjoyed by service providers (Yoeti, 1991).

The authors contribute to the literature on leadership by investigating how characteristics of principal investigators (PIs) affect innovation performance, and how collaborative and non-collaborative projects moderate this relationship within the context of inter-organisational research projects.

The authors analysed panel data from the National Science and Technology Information Service on 171 research projects within a biomedical and regenerative medicines programme overseen by the Korea Health Industry Development Institute. The authors used a hierarchical regression model, based on the ordinary least squares method, to examine the relationship between PI characteristics and performance, considering both quantity and quality.

The results show that the characteristics of PIs have diverse effects on the quantity and quality of innovation performance. Gender diversity within PIs negatively affects the quality of innovation performance, while the capacity of PIs positively influences it. Moreover, the degree of PI’s engagement is positively associated with the quantity of innovation performance but does not have a significant relationship with the quality of performance. In terms of moderating effects, collaborative projects with multiple leaders seem less reliant on PI capacity than non-collaborative projects led by a single leader, in terms of innovation performance.

The results contribute significantly to the literature on innovation management by examining the role of leadership in collaborative environments to enhance innovation performance, addressing the need for empirical evidence in this area. Analyses of PI characteristics in government R&D management can lead to improved team performance, more efficient processes and effective resource allocation, ultimately fostering innovation.

Lean manufacturing (LM) concepts have been widely adopted in diverse industrial sectors. However, no literature review focusing on case studies describing LM implementation is available. Case studies represent the actual implementation and provide secondary data for further analysis. This study aims to review the same to understand the pathways of LM implementation. In addition, it aims to analyse other related review questions, such as how implementing LM impacts manufacturing capabilities and the maturity level of manufacturing organisations that implemented LM, to name a few.

A literature review of case studies that discuss the implementation of LM during the last decade (from 2010 to 2020) is carried out. These studies were synthesised, and content analyses were performed to reveal critical insights.

The implementation pattern of LM significantly varies across manufacturing organisations. The findings show simultaneous improvement in manufacturing capabilities. Towards the end of the last decade, organisations implemented LM with radio frequency identification, e-kanban, simulation, etc.

Reviewing the case studies documenting LM implementation to comprehend the various nuances is a novel attempt. Furthermore, potential future research directions are identified for advancing the research in the domain of LM.

This study aims to examine how the knowledge breadth and depth of a patent affect its likelihood of being pledged. It also seeks to explore whether these relationships change diversely in different technological environments.

A complementary log-log model with random effects was conducted to test the hypotheses using a unique data set consisting of 348,927 invention patents granted by the China National Intellectual Property Administration from 1985 to 2015 belonging to 74,996 firms.

The findings reveal that both knowledge breadth and depth of a patent positively affect its likelihood of being pledged. Furthermore, the knowledge breadth and depth entail different degrees of superiority in different technological environments.

This study focuses on the effect of an individual patent’s knowledge base on its likelihood of being selected as collateral. It does not consider the influence of the overall knowledge characteristics of the selected patent portfolio.

Managers need to pay attention to patents’ knowledge characteristics and the changes in technological environments to select the most suitable patents as collateral and thus improve the success rate of pledge financing.

This study explores the impact of multidimensional characteristics of knowledge base on patent pledge financing within a systematic theoretical framework and incorporates technological environments into this framework.

This study aims to address the aspects of product and process innovation strategies and their determining factors to understand their characteristics in clothing manufacturing and contribution for a successful and competitive clothing industry.

This general review is based on literature data of previous studies on innovation that transcend and cover the aspects of innovation applicable in the clothing industry. Although the scope of discussion is theoretically broad, it focusses on the context of innovation strategies in clothing manufacturing and the determinant factors indicating the acquisition and implementation of product and process-related innovation activities, simultaneously exploring and linking their implications for adopting, managing and integrating enterprise activities to the values of desired innovation novel models.

Based on theoretical background and pragmatic generalizations, product and process innovation strategies in clothing manufacturing firms tend to incline more towards computer-integrated technologies and concepts meant to promote product development, process optimization and organizational integration. Industry, technological and R&D factors tend to significantly determine innovation capability of a clothing firm.

This review generates integrated conceptual frameworks for product and process innovation strategies applicable in clothing firms and their determinant factors as prelude to empirical validation.

China has recently introduced a new audit law that aims to increase the scope of audit supervision and raise the standards for preventing risks in auditing national public projects. This paper presents a systematic research study on the causes of audit risks in national public projects and discusses the process by which these causes contribute to the emergence of such risks. Furthermore, the paper investigates the core risk sources in various types of national construction project audit. This paper aims to provide theoretical support for auditors of national construction projects in risk avoidance when conducting audits.

In this study, the authors carefully selected five national public audit projects from China and performed a comprehensive analysis of 85 relevant audit documentation. The textual analysis was conducted using Nvivo12 software, and the grounded theory approach was adopted for generalization purposes.

Based on the research results, the findings suggest that there are five key causes contributing to the audit risk of national construction projects: professional competence, risk awareness, management capacity, level of attention and deliberate fraud. The most critical factor identified is management capability, with 59.93% of the data supporting this view. This conclusion was based on an analysis of state-owned enterprises, administrative organs and public institutions. Building upon this, a framework titled “the mechanism of audit risk factors with management capability as the core” was constructed.

This paper employs qualitative analysis methods to examine national construction projects in China, contributing new literature to the theoretical study of audit risk management. The article also provides practical recommendations for auditors on how to mitigate audit risks and improve the quality of audit services in national project governance.

In this study, solid formaldehyde, benzoguanamine and butanol were used to synthesize butylated benzo-amino resin by one-step-two-stage method.

This research first examined the influence of solid formaldehyde content on the hydroxymethylation phase. Subsequently, the effects of butanol content, etherification time and hydrochloric acid content on the formation of benzo-amino resin during the etherification stage were studied in detail. In addition, the reaction process was further analyzed through interval sampling withdrawing during the hydroxymethylation and etherification stages. Finally, the synthesized benzo-amino resins were used in the production of high solid content polyester and acrylic coatings and the properties of that were also evaluated.

Based on the experimental findings, the authors have successfully determined the optimal process conditions for the one-step-two-stage method in this study. The hydroxymethylation stage demonstrated the most favorable outcomes at a reaction temperature of 60°C and a pH of 8.5. Similarly, for the etherification stage, the optimal conditions were achieved at a temperature of 45°C and a pH of 4.5. Furthermore, the investigation revealed that a ratio of benzoguanamine to solid formaldehyde to n-butanol, specifically at 1:5.2:15, produced the best results. The performance of the resulting etherified benzo-amino resin was thoroughly evaluated in high solid content coatings, and it exhibited promising characteristics. Notably, there was a significant enhancement in the water resistance, solvent resistance and glossiness of canned iron printing varnish coatings.

Amino resin, a versatile chemical compound widely used in various industries, presents challenges in terms of sustainability and operational efficiency when synthesized using conventional methods, primarily relying on a 37% formaldehyde solution. To address these challenges, the authors propose a novel approach in this study that combines the advantages of the solid formaldehyde with a two-stage catalytic one-step synthesis process. The primary objective of this research is to minimize the environmental impact associated with amino resin synthesis, optimize resource utilization and enhance the economic feasibility for its industrial implementation. By adopting this alternative approach, the authors aim to contribute toward a more sustainable and efficient production of amino resin.

This paper aims to present a set of processes for obtaining the global spraying trajectory of a cold spraying robot on a complex surface.

The complex workpiece surfaces in the project are first divided by triangular meshing. Then, the geodesic curve method is applied for local path planning. Finally, the subsurface trajectory combination optimization problem is modeled as a GTSP problem and solved by the ant colony algorithm, where the evaluation scores and the uniform design method are used to determine the optimal parameter combination of the algorithm. A global optimized spraying trajectory is thus obtained.

The simulation results show that the proposed processes can achieve the shortest global spraying trajectory. Moreover, the cold spraying experiment on the IRB4600 six-joint robot verifies that the spraying trajectory obtained by the processes can ensure a uniform coating thickness.

The proposed processes address the issue of different parameter combinations, leading to different results when using the ant colony algorithm. The two methods for obtaining the optimal parameter combinations can solve this problem quickly and effectively, and guarantee that the processes obtain the optimal global spraying trajectory.