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The formation of unmanned aerial vehicle (UAV) swarm plays a critical role in numerous applications, such as unmanned agriculture, environmental monitoring and cooperative fencing. Meanwhile, the self-organized swarm model exhibits excellent performance in amorphous formation flight, and its collective motion pattern displays great potential in dense obstacle avoidance. The paper aims to realize the formation maintenance of UAVs while combining the advantage of the self-organized swarm model in avoiding dense obstacles. Thereby enhancing the flexibility, adaptability and safety of UAV swarms in dense and unpredictable scenarios.

In this paper, a self-organized formation (SOF) swarm model with a constrained coordination mechanism is proposed. A global information-based formation rule is designed to flexibly maintain the formation. A constraint coordination mechanism is designed to resolve the problem of constraint conflicts between formation rules and self-organized behavior rules. The model introduces a new obstacle avoidance rule to prevent deadlocks. Extensive experiments including simulations, real flights and comparative experiments are conducted to evaluate the performance of the model.

The simulation results show that SOF swarm enables the formation elastically to dense obstacles. Compared to the Vasarhelyi model, swarm performance metrics are improved. For example, the task completion time of SOF swarm is reduced by 16%, 28% and 39% across the three obstacle densities, and the order of SOF swarm is improved by 4%, 13% and 18%, respectively. The proposed model is also validated with a swarm of seven quadcopters that can successfully navigate and maintain formation in a real-world indoor environment with dense obstacles. Video at: https://youtu.be/V8hYgOHxWls.

The proposed formation rule is based on global information construction, which presents challenges in terms of communication overhead in distributed systems.

An SOF swarm model is proposed, which achieves formation maintenance by incorporating formation rule and constraint coordination mechanism and improves obstacle avoidance performance by introducing a new obstacle avoidance rule. After real UAVs verification, the model is feasible for practical deployment and provides a new solution to the formation flight and formation maintenance problems encountered in dense environments.

This paper aims to optimize cable-stayed force in asymmetric one-tower cable-stayed bridge formation using an improved particle swarm algorithm. It compares results with the traditional unconstrained minimum bending energy method.

This paper proposes an improved particle swarm algorithm to optimize cable-stayed force in bridge formation. It formulates a quadratic programming mathematical model considering the sum of bending energies of the main girder and bridge tower as the objective function. Constraints include displacements, stresses, cable-stayed force, and uniformity. The algorithm is applied to optimize the formation of an asymmetrical single-tower cable-stayed bridge, combining it with the finite element method.

The study’s findings reveal significant improvements over the minimum bending energy method. Results show that the structural displacement and internal force are within constraints, the maximum bending moment of the main girder decreases, resulting in smoother linear shape and more even internal force distribution. Additionally, the tower top offset decreases, and the bending moment change at the tower-beam junction is reduced. Moreover, diagonal cable force and cable force increase uniformly with cable length growth.

The improved particle swarm algorithm offers simplicity, effectiveness, and practicality in optimizing bridge-forming cable-staying force. It eliminates the need for arbitrary manual cable adjustments seen in traditional methods and effectively addresses the optimization challenge in asymmetric cable-stayed bridges.

The diagnosis and prediction methods used for estimating the health conditions of the bearing are of great significance in modern petrochemical industries. This paper aims to discuss the accuracy and stability of improved empirical mode decomposition (EMD) algorithm in bearing fault diagnosis.

This paper adopts the improved adaptive complementary ensemble empirical mode decomposition (ICEEMD) to process the nonlinear and nonstationary signals. Two data sets including a multistage centrifugal fan data set from the laboratory and a motor bearing data set from the Case Western Reserve University are used to perform experiments. Furthermore, the proposed fault diagnosis method, combined with intelligent methods, is evaluated by using two data sets. The proposed method achieved accuracies of 99.62% and 99.17%. Through the experiment of two data, it can be seen that the proposed algorithm has excellent performance in the accuracy and stability of diagnosis.

According to the review papers, as one of the effective decomposition methods to deal with nonlinear nonstationary signals, the method based on EMD has been widely used in bearing fault diagnosis. However, EMD is often used to figure out the nonlinear nonstationarity of fault data, but the traditional EMD is prone to modal confusion, and the white noise in signal reconstruction is difficult to eliminate.

In this paper only the top three optimal intrinsic mode functions (IMFs) are selected, but IMFs with less correlation cannot completely deny their value. Considering the actual working conditions of petrochemical units, the feasibility of this method in compound fault diagnosis needs to be studied.

Different from traditional methods, ICEEMD not only does not need human intervention and setting but also improves the extraction efficiency of feature information. Then, it is combined with a data-driven approach to complete the data preprocessing, and further carries out the fault identification and classification with the optimized convolutional neural network.

Sustainable urban rail transit requires noise barriers. However, these barriers’ durability varies due to the differing aerodynamic impacts they experience. The purpose of this paper is to investigate the aerodynamic discrepancies of trains when they meet within two types of rectangular noise barriers: fully enclosed (FERNB) and semi-enclosed with vertical plates (SERNBVB). The research also considers the sensitivity of the scale ratio in these scenarios.

A 1:16 scaled moving model test analyzed spatiotemporal patterns and discrepancies in aerodynamic pressures during train meetings. Three-dimensional computational fluid dynamics models, with scale ratios of 1:1, 1:8 and 1:16, used the improved delayed detached eddy simulation turbulence model and slip grid technique. Comparing scale ratios on aerodynamic pressure discrepancies between the two types of noise barriers and revealing the flow field mechanism were done. The goal is to establish the relationship between aerodynamic pressure at scale and in full scale.

The aerodynamic pressure on SERNBVB is influenced by the train’s head and tail waves, whereas for FERNB, it is affected by pressure wave and head-tail waves. Notably, SERNBVB's aerodynamic pressure is more sensitive to changes in scale ratio. As the scale ratio decreases, the aerodynamic pressure on the noise barrier gradually increases.

A train-meeting moving model test is conducted within the noise barrier. Comparison of aerodynamic discrepancies during train meets between two types of rectangular noise barriers and the relationship between the scale and the full scale are established considering the modeling scale ratio.

This study aims to investigate whether there is a relationship between the religiosity levels of chairpersons’ hometowns and the financial reporting quality of companies.

Using a unique hand-collected data set obtained from various sources, the authors use ordinary least squares and logistic regressions to test the hypotheses and further implement various methods to address potential issues such as omitted variables, reverse causality and selection bias problems. In addition, the authors control for the religiosity level of chief executive officers’ (CEOs) hometowns. Finally, the authors divide the sample into two subsamples – companies with strong corporate governance and companies with weak corporate governance – to investigate the effect of chairpersons’ hometown religiosity on financial reporting quality under strong or weak corporate governance.

The findings demonstrate that companies with chairpersons from religious hometowns produce high-quality financial reports. Additional tests, such as the Heckman selection model and instrument variable regression, confirm the robustness of the main results. Controlling for the religiosity level of the CEO’s hometown yields consistent findings with the main results. Finally, additional results indicate that the religiosity levels of chairpersons’ hometowns play a significant role in enhancing financial reporting quality in companies with weak corporate governance.

Companies should consider appointing board members or chairpersons from more religious hometowns, as the empirical results of this study support the positive effects of chairpersons’ hometown religiosity on financial reporting quality.

To the best of the authors’ knowledge, the current study is among the first to demonstrate the relationship between the religiosity level of the chairpersons’ hometown and the financial reporting quality of companies. The study introduces unique hometown religiosity proxies and controls for various variables related to corporate governance, chairperson attributes, company characteristics, and audit firm characteristics.

The paper aims to examine the digital economy's influence on China's regional innovation and development. It focuses on direct effects and spatial spillover across regions, and the mediating role of human capital. This analysis is vital for policy and strategic planning in the digital era.

This study uses panel data from 30 Chinese provinces (2004–2019) and uses the entropy method to quantify the digital economy's development. It investigates its impact on regional innovation using a dynamic spatial Durbin model (SDM) and mediation effect model, assessing direct effects, spatial spillover and human capital's mediating role. Various control variables are included for comprehensive analysis.

Findings show the digital economy significantly boosts regional innovation, acting as a growth driver. However, impacts vary regionally, with the central region gaining more than the eastern and western areas. Spatial spillover effects are mixed, showing negative short-term and positive long-term impacts under different weight matrices. Human capital is crucial for fostering innovation through the digital economy.

The paper offers unique insights into the spatial dynamics of the digital economy's impact on regional innovation in China. It advances understanding of the digital economy's role in regional development using innovative methods like the entropy method and dynamic SDM. Highlighting human capital as a key mediating factor enriches discussions on digital economy strategies for regional innovation.

This study aims to introduce a novel technique for nonlinear sensor time constant estimation and sensor dynamic compensation in hot-bar soldering using an extended Kalman filter (EKF) to estimate the temperature of the thermocouple.

Temperature optimal control is combined with a closed-loop proportional integral differential (PID) control method based on an EKF. Different control methods for measuring the temperature of the thermode in terms of temperature control, error and antidisturbance are studied. A soldering process in a semi-industrial environment is performed. The proposed control method was applied to the soldering of flexible printed circuits and circuit boards. An infrared camera was used to measure the top-surface temperature.

The proposed method can not only estimate the soldering temperature but also eliminate the noise of the system. The performance of this methodology was exemplary, characterized by rapid convergence and negligible error margins. Compared with the conventional control, the temperature variability of the proposed control is significantly attenuated.

An EKF was designed to estimate the temperature of the thermocouple during hot-bar soldering. Using the EKF and PID controller, the nonlinear properties of the system could be effectively overcome and the effects of disturbances and system noise could be decreased. The proposed method significantly enhanced the temperature control performance of hot-bar soldering, effectively suppressing overshoot and shortening the adjustment time, thereby achieving precise temperature control of the controlled object.

A 3D finite element (FE) model based on the double ellipsoidal heat source was developed to investigate the evolution of temperature and stress fields during the multilayer and multi-pass wire and arc additive manufacturing (WAAM) process. This paper aims to investigate the evolution of temperature and stress fields during the multilayer and multi-pass wire and arc additive manufacturing (WAAM) process by developing a 3D finite element (FE) model based on the double ellipsoidal heat source.

Experimental thermal cycle curves and residual stresses were obtained by thermocouples and X-ray diffraction, respectively. The validity of the model was verified by the corresponding experimental results.

The deposition process of the upper pass led to the partial remelting of the lower deposited pass. The thermal process of the current-deposited pass alleviated the stress concentration in the previous-formed passes. A more uniform temperature distribution could be obtained by using the reciprocating deposition path. Compared to the reciprocating deposition path, the peak values of the transverse and longitudinal tensile residual stresses of the deposited sample under the unidirectional deposition path were reduced by 15 MPa and increased by 13 MPa, respectively. The heat conduction in the deposited passes could be improved by extending the inter-pass cooling time appropriately. With an increase in the inter-pass cooling time, the longitudinal residual stress in the middle region of sample along longitudinal and transverse directions showed increase and decrease–increase trends, respectively, while the transverse residual stress exhibited decrease trend.

This study enhances the understanding of temperature and stress fields evolution during the multilayer and multi-pass cold metal transfer-WAAM processes of magnesium alloy and provides the reference for parameter optimization.

As perceived corporate social responsibility (CSR) has become one of the long-term sustainable development strategies for many companies, this paper investigates the interrelationships between sustainable values (SVs), perceived CSR and customer behaviour in the restaurant industry.

To gather data needed to meet the study aims, we conducted an online survey of restaurant patrons in China, and used partial least squares structural equation modelling (PLS-SEM) to analyse the proposed models and test the hypotheses.

The obtained findings confirm that the three studied SV dimensions (equality, respect for nature and shared responsibility) have positive effects on perceived CSR, which in turn significantly affects word of mouth (WOM). Moreover, perceived CSR mediates the relationship between the three SVs and WOM but has no impact on the relationship between SVs and revisit intention.

The results of this study have practical implications for managers in the restaurant industry. Restaurant managers can prioritize their CSR efforts based on the relative importance of SV dimensions, which is useful in generating positive WOM.

Even though the importance of CSR is widely recognised, it is insufficiently studied from the perspective of restaurant customers. This research not only addresses this gap, but also expands the current understanding of SVs and their impact on CSR.

The purpose of this paper is to address two major challenges faced by robotic fish when operating in underwater environments: insufficient path planning capabilities and difficulties in avoiding dynamic obstacles. To achieve this, a method is proposed that combines the Improved Rapid Randomized Tree Star (IRRT*) with the dynamic window approach (DWA).

The RRT-connect algorithm is used to determine an initial feasible path quickly. The quality of sampling points is then improved by dividing the regions and selecting each region’s probability based on its fitness value. The fitness function and roulette wheel method are introduced for region selection. Subtarget points of the DWA algorithm are extracted from the IRRT* algorithm to achieve real-time dynamic path planning.

In various maps, the iteration count for the IRRT* algorithm decreased by 61%, 35% and 51% respectively, compared to the RRT* algorithm, whereas the iteration time was reduced by 75%, 34% and 57%, respectively. In addition, the IRRT*-DWA algorithm can successfully navigate through multiple dynamic obstacles, and the average time, path length, etc. do not change much when parameters change, and the stability is high.

A novel IRRT*-DWA algorithm is proposed, which, by refining the sampling strategy and updating sub-target points in real time, not only addresses the limitations of existing algorithms in terms of path planning efficiency in complex environments but also enhances their capability to avoid dynamic obstacles. Ultimately, experimental results indicate a high level of similarity between the actual and ideal paths.