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This paper aims to propose a real-time evolutionary multi-objective semi-analytical inverse kinematics (IK) algorithm (EMSA-IK) for solving the multi-objective IK of redundant manipulators.

Within EMSA-IK, the parameterization method is applied to reduce the number of optimization variables of the evolutionary algorithm and calculate semi-analytical solutions that meet high target pose accuracy. The original evolutionary algorithm is improved with the proposed adaptive search sub-space strategy so that the improved evolutionary algorithm can be used to efficiently perform global search within the parametric joint space to obtain the global optimal parametric joint angles that satisfy multi-objective constraints.

Ablation experiments show the effectiveness of the improved strategy used for evolutionary algorithms. Comparative experiments on different manipulators demonstrate the advantages of EMSA-IK in terms of generalizability and balancing multiple objectives, for example, motion continuity, joint limits and obstacle avoidance. Real-world experiments further validate the effectiveness of the proposed algorithm for real-time application.

The semi-analytical IK solution that simultaneously satisfies high target pose accuracy and multi-objective constraints can be obtained in real time. Compared to existing semi-analytical IK algorithms, the proposed algorithm achieves obstacle avoidance for the first time. The proposed algorithm demonstrates superior generalizability, applicable to not only redundant manipulators with revolute joints but also those with prismatic joints.

In the current teleoperation system of humanoid robots, the control between arms and the control between the waist and arms are individual and lack coordinated motion. This paper aims to solve the above problem and proposes a teleoperation control approach for a humanoid robot based on waist–arm coordination (WAC).

The teleoperation approach based on WAC comprises dual-arm coordination (DAC) and WAC. The DAC method realizes the coordinated motion of both arms through one hand by establishing a mapping relationship between a single hand controller and the manipulated object; the WAC method realizes the coordinated motion of both arms and waist by calculating the inverse kinematic input of robotic arms based on the desired velocity of the waist and the end of both arms. An integrated teleoperation control framework provides interfaces for the above methods, and users can switch control modes online to adapt to different tasks.

After conducting experiments on the dual-arm humanoid robot through the teleoperation control framework, it was found that the DAC method can save 27.2% of the operation time and reduce 99.9% of the posture change of the manipulated object compared with the commonly used individual control. The WAC method can accomplish a task that cannot be done by individual control. The experiments proved the improvement of both methods in terms of operation efficiency, operation stability and operation capability compared with individual control.

The DAC method better maintains the constraints of both arms and the manipulated object. The WAC method better maintains the constraints of the manipulated object itself. Meanwhile, the teleoperation framework integrates the proposed methods and enriches the teleoperation modes and control means.

A transportation connectivity strategy is a crucial part of an adaptive, congruent and sustainable tourism transportation system and is of concern to countries focusing on growing their tourism economy. This study aims to gain a better understanding of the relationship between transportation connectivity and the tourism economy through a configuration analysis.

This study uses fuzzy-set qualitative comparative analysis on a sample of 153 cities in China to provide an understanding of the impacts of transportation connectivity strategies, with the co-effecting factors of socio-economic status, tourism resource endowment and hospitality capacity, on the development of regional tourism economies.

There are multiple paths that lead to regional tourism economic development (a high level of tourist arrivals or a high level of tourism revenue). High-speed rail can play a supportive role, while air travel or traditional rail remains central to the tourism economy. Socio-economic status (i.e. city size and city gross domestic product) and hospitality capacity are identified as crucial influencers for the development of the tourism economy.

This study confirms the validity of deploying configuration analysis (based on the equifinality theory) to establish the relationship between transportation and the tourism economy. The finding of more than one configuration led to a new consensus on how multiple factors influence the tourism economy.

Suggestions on transportation connectivity strategies for different regions are provided.

This study demonstrates the need to place greater emphasis on configurations that lead to tourism economy development instead of the effect of a single transportation mode.

摘要

交通连接策略, 作为打造具备适应性、一致性、可持续性的旅游交通系统的重要环节, 被重视旅游经济增长的国家密切关注。组态分析有助于更好地理解交通连接与旅游经济之间的关系。

本研究以中国的153个城市为样本, 使用模糊集定性比较分析方法（fsQCA）, 研究交通连接策略、社会经济水平、旅游资源禀赋、酒店接待能力等协同因素对区域旅游经济发展的影响。

有多种组态可以导致区域旅游经济的发展（表现为高水平的游客人数或高水平的旅游收入）。航空旅行或传统铁路仍然是影响旅游经济发展的核心条件, 而高铁可以发挥支持作用。社会经济水平(即城市规模和城市生产总值)和酒店接待能力被认为是影响旅游经济发展的关键因素。

本研究证实了应用组态分析（基于等效性理论）建立交通连接策略与旅游经济之间关系的有效性。不唯一的多组态的发现会推动关于多种因素如何影响旅游经济的新共识形成。

本研究针对不同地区提出交通连通策略的建议。

本研究表明, 比起考虑单一交通方式产生的影响, 探索旅游经济发展需要更加重视多种交通连接策略的配置。

Abstracto

Una estrategia de conectividad del transporte es una parte crucial de un sistema de transporte turístico adaptable, congruente y sostenible, y es de interés para los países que se centran en el crecimiento de su economía turística. Un análisis de la configuración puede ayudar a comprender mejor la relación entre la conectividad del transporte y la economía del turismo.

Este estudio utiliza el análisis comparativo cualitativo de conjuntos difusos (fsQCA) en una muestra de 153 ciudades de China para proporcionar una comprensión de los impactos de las estrategias de conectividad del transporte, con los factores coadyuvantes de la situación socioeconómica, la dotación de recursos turísticos y la capacidad de hospitalidad, en el desarrollo de las economías turísticas regionales.

Existen múltiples vías que conducen al desarrollo económico del turismo regional (un alto nivel de llegadas de turistas o un alto nivel de ingresos por turismo). El ferrocarril de alta velocidad puede desempeñar un papel de apoyo, mientras que el transporte aéreo o el ferrocarril tradicional siguen siendo fundamentales para la economía turística. El estatus socioeconómico (es decir, el tamaño de la ciudad y el PIB de la ciudad) y la capacidad de hospitalidad se identifican como factores de influencia cruciales para el desarrollo de la economía del turismo.

Este estudio confirma la validez de utilizar el análisis de configuración (basado en la teoría de la equifinalidad) para establecer la relación entre el transporte y la economía del turismo. El hallazgo de más de una configuración condujo a un nuevo consenso sobre cómo influyen los múltiples factores en la economía del turismo.

Se proporciona una tipología de estrategias de conectividad del transporte para diferentes regiones.

Este estudio demuestra la necesidad de poner mayor énfasis en las configuraciones que conducen al desarrollo de la economía turística en lugar del efecto de un único modo de transporte.

Based on the cue utilization theory and congruity theory, the purpose of this paper is to investigate the mediating effects of perceived quality on the relationships between category characteristics and purchase intention for private labels.

To examine the research hypotheses, the authors conducted a questionnaire survey on 703 adult consumers in China.

The results show that perceived quality fully mediates the relationships between category complexity, risk importance, category quality variation, product signatureness and purchase intention. In addition, consumers’ knowledge moderates the relationship between perceived quality and purchase intention. The implications and future research directions are discussed in this study.

The results show that the category complexity is positively related to consumers’ perceived quality. Although opposite to the conclusions in prior research, the findings are consistent with the unique phenomenon in China, that is, to label the name and location of the contract manufacturers. The authors investigate the moderating role of consumer knowledge, which will provide meaningful guidance for the Chinese retailing market.

In urban planning, sustainability is closely linked to the quality of urban public spaces (UPS). However, some UPS encounter issues of low attractiveness and underutilisation. Vitality serves as a crucial measure in this context. The research perspective on the vitality of UPS centres on the balance between human activities and the built environment. Therefore, this article aims to systematically review critical aspects of UPS vitality evaluation system, including research objects, vitality components and research methods, from the dimensions of crowd activity and the built environment.

A systematic literature review using PRISMA analysed English-language publications from 2008 to 2023 in Scopus and Web of Science (WOS) databases, employing keywords related to UPS and vitality, with defined inclusion and exclusion criteria.

(1) Research objects, including parks, squares, waterfronts, blocks and streets. (2) The factors contributing to crowd activity characteristics originate from five dimensions, namely spatial, temporal, visitor, activity and feedback. Environmental factors, both external (accessibility, surrounding function mix and population density) and internal (service facility mix and water presence), significantly impact vitality. (3) The study primarily relies on quantitative data, including traditional surveys and emerging significant data sources like dynamic location and traffic, social media, geospatial and point of interest (POI) data. Data analysis methods commonly used include correlation analysis and comprehensive evaluation techniques.

The findings contribute to a comprehensive understanding of the vitality evaluation system for UPS from multiple perspectives for urban planners, aiding in identifying key factors and research methods in the vitality evaluation of various types of UPS.

Along with the changing needs and expectations of tourists, their demands for special interest tourism types have also increased. In this context, tea tourism is accepted as one of the notable tourism types in recent years. For this reason, it is important to examine the behavior of tourists participating in tea tourism and to provide services accordingly. However, studies on the experiences of tourists participating in tea tourism are still insufficient. The purpose of this study is to determine the memorable experience components of tourists participating in tea tourism. In this context, data were collected using semistructured interviews, participant observation, and online tourist comments. According to the findings, the memorable experience components of tourists participating in tea tourism activities are divided into four themes. These themes are: information about tea, tea-related environments, the taste of tea, and interaction. At the conclusion part of the study, some suggestions were made to the marketers, managers, and operators related to tea tourism according to the determined themes.

The purpose of this paper is to establish a grey cloud incidence clustering model to assess the drought disaster degree under 15 indexes in 18 cities of Henan province.

The grey incidence degree between each index and ideal index is used to determine the index weight and combined with the subjective weight, the comprehensive weight is given; the traditional possibility function is transformed into grey cloud possibility function by using the principle of maximum deviation and maximum entropy, which fully reflects the coexistence of multiple decision-making conclusions and constructs the grey cloud incidence clustering model.

The drought disaster degree of Henan province is divided into four grades under the selected 15 indexes. The drought grades show obvious regional differences. The risk levels of the east and southwest are higher, and the risk levels of the north and southeast are lower. This result is consistent with the study of drought disaster grades in Henan province, which shows the practicability and usefulness of the model.

It provides an effective method for the assessment of drought disaster grade and the basis for formulating disaster prevention and mitigation plan.

By studying the method of multiattribute and multistage decision-making with interval grey number information. The objective weight model of index value is designed, and the subjective weight is given by experts. On the basis of the two, the comprehensive weight of subjective and objective combination is proposed, which effectively weakens the randomness of subjective weight and reasonably reflects the practicality of index decision-making. The time weight reflects the dynamic of the index. The traditional possibility function is transformed into the grey cloud possibility function, which effectively takes advantage of the grey cloud model in dealing with the coexistence of fuzzy information, grey information and random information. Thus, the conflict between the decision-making results and the objective reality is effectively solved. The interval grey number can make full use of the effective information and improve the accuracy of the actual information.

The purpose of this study is to use the grounded theory to summarize the types of celebrity persona and to construct a theoretical model for celebrity persona on consumer purchase intention. Based on the study results, it provides better suggestions for merchants and live streamers and is an expansion of previous research on live-streaming e-commerce.

The grounded theory is recognized as the most scientific qualitative research method and is the ideal explorative method for generating theory. First, the participants were interviewed, and interview data were collected. Then the interview data were organized and analyzed. Finally, this paper summarizes the types of celebrity persona and constructes a theoretical model framework of celebrity persona on consumers' purchase intention.

The results show that the celebrity live streamer persona can be divided into two types: personalized persona and professional persona. Through emotional attachment, the celebrity's persona affects the consumer's purchase intentions. As well as, product type plays a moderating role between celebrity persona and consumer purchase intentions.

The contribution of this research is to start from the celebrity persona, link the celebrity persona with the consumer purchase intentions and expand the research scope of the celebrity persona. It opens the “black box” of the heterogeneity of celebrity live streamers' characteristics on consumer purchase intentions.

The purpose of this paper is to investigate the economic relationship with recent changes in China’s land use policy and rural development through innovation and entrepreneurship.

The first issue of economic importance is in understanding the market value of land use rights (LUR) transactions. To examine this, the authors build an argument around the idea of economic and marginal rents from Ricardo. The second issue relates to the extent by which deepening the rural financial landscape by allowing the mortgaging of LUR will promote and advance much needed entrepreneurial activity. To explore this issue, the authors draw on Schumpeter. The empirical contribution is based on a survey of 1,465 farm households in Gansu, Henan, Shaanxi and Shandong provinces.

In an endogenous Two-Stage Least Squares model, the authors find a positive and significant relationship between a willingness to mortgage LUR and entrepreneurship, which suggest that the new policy may well meet that objective. However, the authors do not find that entrepreneurs alone will have a willingness to mortgage LUR; non-entrepreneurs – traditional farmer types – would also be willing to mortgage LUR, but with a caveat that either group already has a disposition or demand for credit.

The value of the analysis is to provide an evidence to understand the market value of LUR transactions and to study the relationship between mortgage of LUR and entrepreneurial activity.

The purpose of this paper is to establish a two-stage grey cloud clustering model to assess the drought risk level of 18 prefecture-level cities in Henan Province.

The clustering process is divided into two stages. In the first stage, grey cloud clustering coefficient vectors are obtained by grey cloud clustering. In the second stage, with the help of the weight kernel clustering function, the general representation of the weight vector group of kernel clustering is given. And a new coefficient vector of kernel clustering that integrates the support factors of the adjacent components was obtained in this stage. The entropy resolution coefficient of grey cloud clustering coefficient vector is set as the demarcation line of the two stages, and a two-stage grey cloud clustering model, which combines grey and randomness, is proposed.

This paper demonstrates that 18 cities in Henan Province are divided into five categories, which are in accordance with five drought hazard levels. And the rationality and validity of this model is illustrated by comparing with other methods.

This paper provides a practical and effective new method for drought risk assessment and, then, provides theoretical support for the government and production departments to master drought information and formulate disaster prevention and mitigation measures.

The model in this paper not only solves the problem that the result and the rule of individual subjective judgment are always inconsistent owing to not fully considering the randomness of the possibility function, but also solves the problem that it’s difficult to ascertain the attribution of decision objects, when several components of grey clustering coefficient vector tend to be balanced. It provides a new idea for the development of the grey clustering model. The rationality and validity of the model are illustrated by taking 18 cities in Henan Province as examples.