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To present the detailed implementation processes of the IDEAL algorithm for two-dimensional compressible flows based on Delaunay triangular mesh, and compare the performance of the SIMPLE and IDEAL algorithms for solving compressible problems. What’s more, the implementation processes of Delaunay mesh generation and derivation of the pressure correction equation are also introduced.

Programming completely in C++.

Five compressible examples are used to test the SIMPLE and IDEAL algorithms, and the comparison with measurement data shows good agreement. The IDEAL algorithm has much better performance in both convergence rate and stability over the SIMPLE algorithm.

The detail solution procedure of implementing the IDEAL algorithm for compressible flows based on Delaunay triangular mesh is presented in this work, seemingly first in the literature.

This study identifies three main CSR motivations (i.e. strategic benefits, altruism and greenwashing) and explores the relationship between CSR motivations and environmental collaboration by considering the mediating role of environmental commitment and the moderating role of team autonomy.

The data collected from 336 respondents in the construction industry, structural equation modeling and bootstrapping were used to test hypotheses.

The findings show that altruistic CSR enhances environmental collaboration through enhancing environmental commitment, whereas greenwashing CSR damages environmental collaboration through reducing environmental commitment. Although there is no direct association between strategic CSR and environmental collaboration, environmental commitment mediates the effects of strategic CSR on environmental collaboration. Moreover, the positive effect of strategic CSR and altruistic CSR on environment commitment is stronger when team autonomy is stronger, whereas the negative effect of greenwashing CSR on environment commitment is weaker when team autonomy is stronger.

The findings contribute to the understanding of how CSR motivations can act as catalysts for collaborative efforts in addressing environmental issues within construction projects and offer theoretical understanding of team autonomy by illustrating its role in shaping organizational responses to CSR motivations. The findings can provide insights into why and how participating teams can collaborate better on environmental management, enriching the knowledge of environmental management practices in construction projects.

Studies on developed economies showed that imposing taxes on animal-based foods could effectively reduce agricultural greenhouse gas emissions (AGHGEs), while this taxation may not be appropriate in developing countries due to the complex nutritional status across income classes. Hence, this study aims to explore optimal tax rate levels considering both emission reduction and nutrient intake, and examine the heterogenous effects of taxation across various income classes in urban and rural China.

The authors estimated the Quadratic Almost Ideal Demand System model to calculate the price elasticities for eight food groups, and performed three simulations to explore the relative optimal tax regions via the relationships between effective animal protein intake loss and AGHGE reduction by taxes.

The results showed that the optimal tax rate bands can be found, depending on the reference levels of animal protein intake. Designing taxes on beef, mutton and pork could be a preliminary option for reducing AGHGEs in China, but subsidy policy should be designed for low-income populations at the same time. Generally, urban residents have more potential to reduce AGHGEs than rural residents, and higher income classes reduce more AGHGEs than lower income classes.

This study fills the gap in the literature by developing the methods to design taxes on animal-based foods from the perspectives of both nutrient intake and emission reduction. This methodology can also be applied to analyze food taxes and GHGE issues in other developing countries.

In response to the challenges posed by the conventional manual flange docking method in the LNG (Liquefied Natural Gas) loading process, such as low positioning accuracy, constraints on production efficiency and safety hazards, this study analyzed the LNG five-axis loading arm’s main functions and structural characteristics.

An automated solution for the joints of the LNG loading arm was designed. The forward kinematic model of the LNG loading arm was established using the Denavit–Hartenberg (D-H) parameter method, and its workspace was analyzed. The Newton–Raphson iteration method was employed to solve the inverse kinematics of the LNG loading arm, facilitating trajectory planning. The relationship between the target position and the joint variables was established to verify the stability of the arm’s motion. Flange center identification was achieved using the Hough transform function. Based on the ROS platform, combined with Gazebo and Rviz, an experimental simulation of automatic docking of the LNG loading arm was conducted.

The docking errors in the XYZ directions were all less than 0.8 mm, meeting the required docking accuracy. Moreover, the motion performance of the loading arm during docking was smooth and free of abrupt changes, validating its capability to accomplish the automatic docking task.

The proposed trajectory planning and automatic docking scheme can be used for the rapid filling of LNG filling arms and LNG tankers to improve the efficiency of LNG transportation. In guiding the docking, the proposed automatic docking scheme is an accurate and efficient way to improve safety.