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The purpose of this paper is to develop an online smoothing zero-velocity-update (ZUPT) method that helps achieve smooth estimation of human foot motion for the ZUPT-aided inertial pedestrian navigation system.

The smoothing ZUPT is based on a Rauch–Tung–Striebel (RTS) smoother, using a six-state Kalman filter (KF) as the forward filter. The KF acts as an indirect filter, which allows the sensor measurement error and position error to be excluded from the error state vector, so as to reduce the modeling error and computational cost. A threshold-based strategy is exploited to verify the detected ZUPT periods, with the threshold parameter determined by a clustering algorithm. A quantitative index is proposed to give a smoothness estimate of the position data.

Experimental results show that the proposed method can improve the smoothness, robustness, efficiency and accuracy of pedestrian navigation.

Because of the chosen smoothing algorithm, a delay no longer than one gait cycle is introduced. Therefore, the proposed method is suitable for applications with soft real-time constraints.

The paper includes implications for the smooth estimation of most types of pedal locomotion that are achieved by legged motion, by using a sole foot-mounted commercial-grade inertial sensor.

This paper helps realize smooth transitions between swing and stance phases, helps enable continuous correction of navigation errors during the whole gait cycle, helps achieve robust detection of gait phases and, more importantly, requires lower computational cost.

The main purpose of this study was to prepare the cotton fibers and cellulose powder by a layer of nano-crystalline-titanium dioxide (TiO₂) using the sol-gel sono-synthesis method to clean the wastewater containing reactive dye. Moreover, TiO₂ nano-materials are remarkable due to their photoactive properties and valuable applications in wastewater treatment.

In this research, TiO₂ was synthesized and deposited effectively on cotton fibers and cellulose powder using ultrasound-assisted coating. Further, tetra butyl titanate was used as a precursor to the synthesis of TiO₂ nanoparticles. Reactive dye (red 195) was used in this study. X-ray Diffraction, scanning electron microscopy and Fourier transform infrared spectroscopy were performed to prove the aptitude for the formation of crystal TiO2 on the cotton fibers and cellulose powder along with TiO₂ nanoparticles as well as to analyze the chemical structure. Decoloration of the wastewater was investigated through ultraviolet (UV-Visible) light at 30 min.

The experimental results revealed that the decolorization was completed at 2.0 min with the cellulose nano TiO₂ treatment whereas cotton nano TiO₂ treated solution contained reactive dyestuffs even after the treatment of 2 min. This was the fastest method up to now than all reported methods for sustainable decolorization of wastewater by absorption. Furthermore, this study explored that the cellulose TiO₂ nano-composite was more effective than the cotton TiO₂ nano-composite of decoloration wastewater for the eco-friendly remedy.

Cotton fibers and cellulose powder with nano-TiO₂, and only reactive dye (red 195) were tested.

With reactive dye-containing wastewater, it seems to be easier to get rid of the dye than to retain it, especially from dyeing of yarn, fabric, apparel, and as well as other sectors where dyestuffs are used.

This research would help to reduce pollution in the environment as well as save energy and cost.

Decoloration of wastewater treatment is an essential new track with nano-crystalline TiO2 to fast and efficient cleaning of reactive dyes containing wastewater used as a raw material.

This study aims to investigate the relationship between corporate social responsibility (CSR) disclosure and financial performance (FP) of Islamic banking sector from a developing country perspective. It also explores the present status of CSR activities performing by the listed Islamic banks (IBs) of Bangladesh.

The secondary data from seven IBs’ annual reports for the years 2009–2018 are taken to obtain substantial measures of CSR activities. A corporate social responsibility disclosure index is constructed based on disclosure status on nine dimensions and 75 items as per the Accounting and Auditing Organization for Islamic Financial Institutions standards. To find the association between CSR disclosures and profitability, panel regression analysis has been performed.

The result indicates that CSR disclosures have a significant and negative relation with FP (return on assets) of IBs. It also suggests the expansion of CSR practices and the communicative CSR reporting of IBs, as an ethical identity, toward the stakeholders and society.

First, the samples used in this study are limited to IBs as ethical identities in Bangladesh. Second, the length of a time frame as the practice of CSR activities and its reporting is still ineffective following the enforcement of the central bank directive in 2008. Another limitation is that the study used a subjective measure, content analysis, of CSR activities that was self-reported disclosures, which may creep some biasness.

The practical involvement of this research includes the assistance for policy development regarding better understanding of expansion of CSR practices and trustworthiness of CSR reporting by the Islamic banking segments in developing country context. Future researchers can get a glimpse of what reputational impact CSR initiatives really have on consumers and investors, considering CSR activities as an indicator of greater transparency and honesty in operations and financial reporting.

This study makes an important contribution to the academic literature on CSR communication from developing country context where CSR activities are supported under Islamic banking system. In addition, its examination of the legitimacy of CSR disclosures elaborates the social obligations of corporate entities to their stakeholders and society.