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This paper presents a comprehensive pallet-picking approach for forklift robots, comprising a pallet identification and localization algorithm (PILA) to detect and locate the pallet and a vehicle alignment algorithm (VAA) to align the vehicle fork arms with the targeted pallet.

Opposing vision-based methods or point cloud data strategies, we utilize a low-cost RGB-D camera, and thus PILA exploits both RGB and depth data to quickly and precisely recognize and localize the pallet. The developed method guarantees a high identification rate from RGB images and more precise 3D localization information than a depth camera. Additionally, a deep neural network (DNN) method is applied to detect and locate the pallet in the RGB images. Specifically, the point cloud data is correlated with the labeled region of interest (RoI) in the RGB images, and the pallet's front-face plane is extracted from the point cloud. Furthermore, PILA introduces a universal geometrical rule to identify the pallet's center as a “T-shape” without depending on specific pallet types. Finally, VAA is proposed to implement the vehicle approaching and pallet picking operations as a “proof-of-concept” to test PILA’s performance.

Experimentally, the orientation angle and centric location of the two kinds of pallets are investigated without any artificial marking. The results show that the pallet could be located with a three-dimensional localization accuracy of 1 cm and an angle resolution of 0.4 degrees at a distance of 3 m with the vehicle control algorithm.

PILA’s performance is limited by the current depth camera’s range (< = 3 m), and this is expected to be improved by using a better depth measurement device in the future.

The results demonstrate that the pallets can be located with an accuracy of 1cm along the x, y, and z directions and affording an angular resolution of 0.4 degrees at a distance of 3m in 700ms.

The color painting of ancient buildings has high historical and artistic value but is prone to aging due to long-term outdoor exposure. The purpose of this study is to develop a new type of sealing coating to mitigate the impact of ultraviolet (UV) light on color painting.

The new coating was subjected to a 500-h UV-aging test. Compared with the existing acrylic resin Primal AC33, the UV aging behavior of the new coating, such as color difference and gloss, was studied with aging time. The Fourier infrared spectra of the coatings were analyzed after the UV-aging test.

Compared with AC33, the antiaging performance of SF8 was substantially improved. SF8 has a lower color difference value and better light retention and hydrophobicity. The Fourier transform infrared spectroscopy results showed that the C-F bond and Si-O bonds in the resin of the optimized sealing coating protected the main chain C-C structure from degradation during the aging process; thus, the resin maintained good stability. The hindered amine light stabilizer TN292 added to the coating inhibited the antiaging process by trapping active free radicals.

To address the problem of UV aging of oil-decorated colored paintings, a new type of sealing coating with excellent antiaging properties was developed, laying the foundation for its demonstration application on the surface of ancient buildings.

The aim of this paper is to explore the specific relationship between managerial power and enterprise innovation performance. Combined with managerial power theory and stewardship theory, financing constraints and strategic orientation, including, strategic market orientation and strategic technology orientation are included in the analysis framework to test how managerial power influences enterprise innovation performance in detail from the perspective of enterprise internal influence mechanisms.

Based on the A-share listed companies in Shanghai and Shenzhen covering the period from 2001 to 2017, this paper uses the ordinary least square method (OLS) to explore how managerial power affects enterprise innovation performance.

The results show that managerial power has a positive impact on enterprise innovation performance. Furthermore, the authors find that financing constraints, strategic market orientation and strategic technology orientation all have partial mediating effects in the relationship between managerial power and enterprise innovation performance.

This paper verifies the application of managerial power theory and stewardship theory in the relationship between managerial power and enterprise innovation performance in Chinese A-share listed companies, contributing to the literature on enterprise innovation. Moreover, by introducing the mediating mechanisms of financing constraints, strategic market orientation and strategic technology orientation, this paper builds an effective path for in-depth study to analyze how managerial power influences enterprise innovation performance and finds ways to improve enterprise innovation performance from the inside view of the enterprise.

The purpose of this paper is to empirically analyze the impact of directors’ and officers’ (D&O) liability insurance on enterprise strategic change. It also explores the mediating role of litigation risk, the moderating roles of enterprise science and technology level and precipitation organizational slack between them. In addition, it examines the joint moderating roles of the top management team (TMT) external social network and enterprise science and technology level, and enterprise scale and precipitation organizational slack.

Using the unbalanced panel data of A-share listed companies in the Shanghai and Shenzhen stock exchanges of China from 2002 to 2020 as the research sample, this paper uses the ordinary least square method and fixed-effect model to study the relationship between D&O liability insurance and enterprise strategic change. The study also focuses on the mediating mechanism and moderating mechanisms between them.

The authors find that D&O liability insurance has an “incentive effect,” which can significantly promote enterprise strategic change. Litigation risk plays a partial mediating role between D&O liability insurance and enterprise strategic change. Enterprise science and technology level and precipitation organizational slack negatively moderate the relationship between D&O liability insurance and enterprise strategic change. TMT external social network and enterprise science and technology level, and enterprise-scale and precipitation organizational slack have joint moderating effects on the relationship between D&O liability insurance and enterprise strategic change.

This paper confirms the “incentive effect hypothesis” of the impact of D&O liability insurance on enterprise strategic change, which not only broadens the research perspective of enterprise strategic management but also further expands the research scope of D&O liability insurance. Besides, this paper thoroughly explores the influencing mechanisms between D&O liability insurance and enterprise strategic change, providing incremental contributions to the research literature in the field of enterprise risk management and corporate governance. The findings have practical guiding significance for expanding the coverage of D&O liability insurance, promoting the implementation of strategic changes and improving the level of corporate governance of Chinese enterprises.

In response to the navigation challenges faced by coal mine tunnel inspection robots in semistructured underground intersection environments, many current studies rely on structured map-based planning algorithms and trajectory tracking techniques. However, this approach is highly dependent on the accuracy of the global map, which can lead to deviations from the predetermined route or collisions with obstacles. To improve the environmental adaptability and navigation precision of the robot, this paper aims to propose an adaptive navigation system based on a two-dimensional (2D) LiDAR.

Leveraging the geometric features of coal mine tunnel environments, the clustering and fitting algorithms are used to construct a geometric model within the navigation system. This not only reduces the complexity of the navigation system but also optimizes local positioning. By constructing a local potential field, there is no need for path-fitting planning, thus enhancing the robot’s adaptability in intersection environments. The feasibility of the algorithm principles is validated through MATLAB and robot operating system simulations in this paper.

The experiments demonstrate that this method enables autonomous driving and optimized positioning capabilities in harsh environments, with high real-time performance and environmental adaptability, achieving a positioning error rate of less than 3%.

This paper presents an adaptive navigation system for a coal mine tunnel inspection robot using a 2D LiDAR sensor. The system improves robot attitude estimation and motion control accuracy to ensure safe and reliable navigation, especially at tunnel intersections.

Innovation is the most important quality of enterprise management. It is an important and controversial issue whether the heterosexual leadership structure of the chairman and chief executive officer (CEO) makes the work “easy” or “very tired” in enterprise innovation. This study investigates the specific impact of the heterosexual leadership structure on enterprise innovation investment, and further explores influence mechanism between them from two perspectives. Specifically, from the perspective of enterprise leaders including the chairman and CEO, this paper analyzes the impact of surname sharing, intergenerational differences and top management team (TMT) external social network between the heterosexual leadership structure and enterprise innovation investment. And from the perspective of enterprise itself, this study explores the impact of ownership and organizational slack between the heterosexual leadership structure and enterprise innovation investment.

By using ordinary least squares regression (OLS), this study mainly takes the unbalanced panel data of A-share listed companies from 2008 to 2019 in Shanghai and Shenzhen as the research sample to empirically analyze the relationship and influence mechanism between the heterosexual leadership structure and enterprise innovation investment.

The results show that the heterosexual leadership structure of the chairman and CEO has a negative impact on enterprise innovation investment. Surname sharing and ownership positively moderate the negative impact of the heterosexual leadership structure of the chairman and CEO on enterprise innovation investment. Intergenerational differences and TMT external social network negatively moderate the relationship between the heterosexual leadership structure of the chairman and CEO and enterprise innovation investment. In addition, the moderating effects of intergenerational differences and TMT external social network on the relationship between the heterosexual leadership structure and enterprise innovation investment both depend on organizational slack. When organizational slack is lower and intergenerational differences are higher, the negative impact of the heterosexual leadership structure of the chairman and CEO on enterprise innovation investment will be the strongest. And when organizational slack is lower and TMT external social network is higher, the negative impact of the heterosexual leadership structure of the chairman and CEO on enterprise innovation investment will be the strongest.

By exploring the influence and the boundary mechanism of the heterosexual leadership structure of the chairman and CEO on enterprise innovation investment, the “heterosexual difference effect” is verified in this paper, that is, when men and women work together, work is very tired. This not only enriches the existing research of enterprise innovation investment, but also provides practical guidance for effectively improving enterprise innovation investment from a new perspective. In addition, it broadens the moderating mechanism of the impact of the heterosexual leadership structure of the chairman and CEO on enterprise innovation investment, which is conducive to reasonable response to improve enterprise innovation investment.

Depression has become one of the most serious and prevalent mental health problems worldwide. The rise and popularity of social networks such as microblogs provides a wealth of psychological data for early depression detection. Language use patterns reflect emotional states and psychological traits. Differences in language use between depressed and general users may help predict and diagnose early depression. Existing work focuses on depression detection using users' social textual emotion expressions, with less psychology-related knowledge.

In this paper, we propose an RNN-capsule-based depression detection method for microblog users that improves depression detection accuracy in social texts by combining textual emotional information with knowledge related to depression pathology. Specifically, we design a multi-classification RNN capsule that enhances emotion expression features in utterances and improves classification performance of depression-related emotional features. Based on user emotion annotations over time, we use integrated learning to detect depression in a user’s social text by combining the analysis results with components such as emotion change vector, emotion causality analysis, depression lexicon and the presence of surprising emotions.

In our experiments, we test the accuracy of RNN capsules for emotion classification tasks and then validate the effectiveness of different depression detection components. Finally, we achieved 83% depression detection accuracy on real datasets.

The paper overcomes the limitations of social text-based depression detection by incorporating more psychological background knowledge to enhance the early detection success rate of depression.

A section of in-service PE gas pipeline in Guocun, Beijing, was found to appear gas leaking at the electrofusion (EF) joint. This study is dedicated to reveal the material cause of EF joint failure to help with a more accurate prediction of service life of PE gas pipe and further normalize the construction of PE gas pipeline.

Defect detection was carried out on the leaking EF joint using ultrasonic phased array. The mechanical degradation and structural aging behavior was studied by tension test, FTIR technology, TG test and DSC test. The organic components in the soil surrounding the PE gas pipe failure area were qualitatively identified.

The results showed that the organic surfactants in the soil environment could accelerate the aging behavior of PE material, leading to a deterioration of mechanical properties and a serious reduction in the ability of the PE pipe and EF joint, especially at the welding defect, to resist external force.

A novel study was conducted to investigate the failure cause of the EF joint of in-service PE gas pipe, incorporating the analysis of environmental factors and structural deterioration.

The purpose of this paper is to identify the causal effect of high-speed railways (HSRs) and investigate the affecting channels; the second purpose is to examine how HSRs change the distribution of economic activity across cities and sectors.

A difference-in-difference strategy is implemented to estimate the impact of recently built HSRs on local economic performance in China, exploiting the geography and time variations in HSR operations.

Using panel data from China’s City Statistical Yearbook 2001–2019, the authors find that HSRs lead to a significant increase in cities’ gross domestic product (GDP) and GDP per capita, but the authors do not find any significant change in GDP growth. This conclusion still holds true after the authors address the endogeneity problems. A mechanism analysis shows that HSRs improve local economic performance mainly by increasing fixed asset investment. The authors also find that the HSR investment is a policy that favors metropolitan areas due to the larger increase in the GDP for larger cities and with HSRs, the industrial and service sectors will further agglomerate in larger cities.

The authors contribute to the literature in several ways. First, this paper improves the estimation strategy in identifying the HSR impact on the local economic performance. Second, this paper investigates the affecting channels of HSRs. This paper proves that HSRs in China promote the cities’ economic performance mainly by increasing the fixed asset investment. Third, this study provides evidence for the new economic geography models pioneered by Krugman (1991).

This paper aims to investigate the relationship between empowering leadership and innovative job performance, with challenge stress and hindrance stress acting as parallel mediators. Additionally, the study examines how promotion focus and prevention focus moderate these dual processes.

A two-wave survey was employed to validate the theoretical model, gathering data from 449 employees across various industries in Mainland China with a convenience sampling method.

The results demonstrate that empowering leadership enhances employee innovative job performance by increasing challenge stress and reducing hindrance stress, highlighting the moderating role of regulatory focus. Specifically, a high promotion focus strengthens the positive relationship between empowering leadership and challenge stress, while a high prevention focus weakens the negative relationship between empowering leadership and hindrance stress. The moderated mediation effect of regulatory focus is also verified.

Empowering leaders should be mindful of employees’ dualistic work stress and implement tailored management strategies based on individual regulatory focus to maintain their psychological well-being and enhance innovative performance.

Grounded in job demand-resource (JD-R) theory and a stress perspective, this study develops a dual-path model to explore the impact of empowering leadership on employee innovative job performance through dualistic work stress. This framework enhances our understanding of the mechanisms underlying the effectiveness of empowering leadership and the antecedent factors influencing employee well-being and innovative performance. Furthermore, by examining the role of employees’ regulatory focus, this study clarifies the boundary conditions of empowering leadership effectiveness, addressing inconsistencies in previous research findings.