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Purpose The grasping task of robots in dense cluttered scenes from a single-view has not been solved perfectly, and there is still a problem of low grasping success rate. This study aims to propose an end-to-end grasp generation method to solve this problem. Design/methodology/approach A new grasp representation method is proposed, which cleverly uses the normal vector of the table surface to derive the grasp baseline vectors, and maps the grasps to the pointed points (PP), so that there is no need to add orthogonal constraints between vectors when using a neural network to predict rotation matrixes of grasps. Findings Experimental results show that the proposed method is beneficial to the training of the neural network, and the model trained on synthetic data set can also have high grasping success rate and completion rate in real-world tasks. Originality/value The main contribution of this paper is that the authors propose a new grasp representation method, which maps the 6-DoF grasps to a PP and an angle related to the tabletop normal vector, thereby eliminating the need to add orthogonal constraints between vectors when directly predicting grasps using neural networks. The proposed method can generate hundreds of grasps covering the whole surface in about 0.3 s. The experimental results show that the proposed method has obvious superiority compared with other methods.

With global climate change and rapid urbanization, it is critical to assess urban flood resilience (UFR) within the social-economic-natural complex ecosystem in dealing with urban flood disasters. This research proposes a conceptual framework based on the PSR-SENCE model for evaluating and exploring trends in urban flood resilience over time, using 27 cities in the Yangtze River Delta (YRD) of China as case studies. For the overall evaluation, a hybrid weighting method, VIKOR, and sensitivity analysis were used. During that time, UFR in the YRD region averaged a moderate level with an upward trend. This distinguishes between the resilience levels and fluctuation trends of provinces and cities. Jiangsu, Zhejiang, and Anhui provinces all displayed a trend of progressive development; however, Shanghai displayed a completely opposite pattern, mainly because of resilience in the state dimension. During that time, 81.41% of cities exhibited varying, upward trends in urban flood resistance, with few demonstrating inverse changes. Regional, provincial, and city-level implications are proposed for future UFR enhancement. The research contributes to a better understanding of the urban complex ecosystem under flood conditions and provides significant insights for policymakers, urban planners, and practitioners in the YRD region and other similar flood-prone urban areas.

The data-driven models have been widely used in building energy analysis due to their outstanding performance. The input variables of the data-driven models are crucial for their predictive performance. Therefore, it is meaningful to explore the input variables that can improve the predictive performance, especially in the context of the global energy crisis. In this study, an algorithm for calculating the balance point temperature was proposed for an apartment community in Xiamen, China. It was found that the balance point temperature label (BPT label) can significantly improve the daily energy consumption prediction accuracy of five data-driven models (BPNN, SVR, RF, LASSO, and KNN). Feature importance analysis showed that the importance of the BPT label accounts for 25%. Among all input variables, the daily minimum temperature is the decisive factor that affects energy consumption, while the daily maximum temperature has little impact. In addition, this study also provides recommendations for selecting these model tools under different data conditions: when the input variable data is insufficient, KNN has the best predictive performance, while BPNN is the best model when the input data is sufficient.

Optic never fibers in the visual pathway play significant roles in vision formation. Damages of optic nerve fibers are biomarkers for the diagnosis of various ophthalmological and neurological diseases; also, there is a need to prevent the optic nerve fibers from getting damaged in neurosurgery and radiation therapy. Reconstruction of optic nerve fibers from medical images can facilitate all these clinical applications. Although many computational methods are developed for the reconstruction of optic nerve fibers, a comprehensive review of these methods is still lacking. This paper described both the two strategies for optic nerve fiber reconstruction applied in existing studies, i.e., image segmentation and fiber tracking. In comparison to image segmentation, fiber tracking can delineate more detailed structures of optic nerve fibers. For each strategy, both conventional and AI-based approaches were introduced, and the latter usually demonstrates better performance than the former. From the review, we concluded that AI-based methods are the trend for optic nerve fiber reconstruction and some new techniques like generative AI can help address the current challenges in optic nerve fiber reconstruction.

PurposeTo propose a new investment-income valuation model by real options approach (ROA) for old community renewal (OCR) projects, which could help the government attract private capital's participation.Design/methodology/approachThe new model is proposed by identifying the types of options private capital has in the OCR project, selecting the option model most suitable for private capital investment decisions, improving the valuation model through the triangular fuzzy numbers to take into account the uncertainty and flexibility, and demonstrating the feasibility of the calculation model through an actual OCR project case.FindingsThe new model can valuate OCR projects more accurately based on considering uncertainty and flexibility, compared with conventional methods that often underestimate the value of OCR projects.Practical implicationsThe investment-income of OCR projects shall be re-valuated from the lens of real options, which could help reveal more real benefits beyond the capital growth of OCR projects, enable the government to attract private capital's investment in OCR, and alleviate government fiscal pressure.Originality/valueThe proposed OCR-oriented investment-income valuation model systematically analyzes the applicability of real option value (ROV) to OCR projects, innovatively integrates the ROV and the net present value (NPV) as expanded net present value (ENPV), and accurately evaluate real benefits in comparison with existing models. Furthermore, the newly proposed model holds the potential to be transferred to various social welfare projects as a tool to attract private capital's participation.

Previous studies have investigated frameworks for the specification of Exchange Information Requirements (EIRs). So far, these efforts have concentrated on the specification of non-geometrical data. Graphical information specification is often carried out through the application of subjective criteria. Moreover, the definition of variables used in existing specification frameworks has acquired various meanings among practitioners and organisations. To address this gap, this study's aim is to identify and analyse the concepts that influence the specification of the graphical data in BIM-enabled projects. The BIM literature tends to consider problems from a technological standpoint. The current dichotomy in the BIM body of knowledge demands research that account for the context of industry practices and organisations in which the specification of graphical data is performed. To address its aim, this study adopts a qualitative strategy, employing a cross-sectional design and a grounded theory approach for data collection and analysis. The iterative nature of the grounded theory approach, particularly of its theoretical sampling feature, was addressed by dividing data collection and analysis into two stages. In exploring the concepts that define the specification of graphical data in EIRs, six main themes were identified: model use, project stage, project actors, processes and objects definitions, graphical granularity, and model attribute. Moreover, the findings support the suggestion that contextual factors play a role in the implementation of these variables and associated processes. There is a suggestion that practices at the industry and organisational context level, such as the existence of mandates, could be influencing the way practitioners specify information. These results can be employed to extend the understanding of the considerations made in the definition of graphical information in EIRs documentation. Moreover, this work could inform the activity of practitioners and the development of new technologies focused on the automation of information specification.

To improve the adjuvant activity of polysaccharides from Eucommia ulmoides leaves (PsEUL) in inducing an effective immune response against ovalbumin (OVA), PsEUL were conjugated to OVA using the N-(3-dimethylaminopropyl)-N'-ethylcarbodiimide hydrochloride (EDC) method. The synthesized PsEUL-OVA was encapsulated using phytantriol and F127 to produce PsEUL-OVA cubosomes (Cubs), a novel delivery system. The physicochemical properties and immune modulation effects of this novel delivery system were explored.In vitro, PsEUL-OVA/Cubs carrying large amounts of OVA were rapidly phagocytized by macrophages and upregulated macrophage proliferation, thereby stimulating cytokine production (interleukin (IL)-6 and IL-4). In vivo, PsEUL-OVA/Cubs increased the titer of OVA-specific antibodies (immunoglobulin (Ig)G, IgG2b, IgG2a and IgG1) and cytokine levels (IL-2, IL-6, IL-4 and interferon-γ). In addition, the cubosomes promoted the differentiation of CD8Collectively, the findings demonstrate that PsEUL-antigen/Cubs can be a useful delivery vehicle with immune response-promoting effects. Therefore, this study lays the foundation for the development of novel adjuvant-antigen delivery systems with potential applications in vaccine design. © 2022 Society of Chemical Industry.

Urban road traffic network (URTN) plays an important role in city operation, while it is also suffered a lot from the urban flood disasters which caused negative impacts frequently, like traffic congestion, and road collapse. The function loss of URTN not only destroy normal urban life and work order, but also pose a serious threat to people's lives and properties. Therefore, it is urgent to quantitatively explore the flood resilience of URTN. The concept of resilience puts forward new ideas to help solve the problem of urban flooding disasters from a holistic view. Exploring the flood resilience of urban traffic network may help to mitigate urban flooding and improve the urban resilience. This paper developed a flood resilience evaluation model of URTN, which contains 26 indicators based on the 4R theory. A case study was conducted in southern China to validate the model with real data. It evaluated the urban flood resilience of road traffic network with a comparison of before and after reconstruction of the pipeline. The results demonstrated that the flood resilience of URTN is at a relatively low level in the study area, and the limitation of single traditional engineering measure to the flood resilience of URTN. Suggestions such as strengthening the citizen participation and enhancing the complementary capability of multiple engineering measures are proposed to further promote the flood resilience of the URTN.

Purpose This paper aims to propose a method to solve the problem of localization and mapping of a two-wheeled inverted pendulum (TWIP) robot on the ground using the Stereo–inertial measurement unit (IMU) system. This method reparametrizes the pose according to the motion characteristics of TWIP and considers the impact of uneven ground on vision and IMU, which is more adaptable to the real environment. Design/methodology/approach When TWIP moves, it is constrained by the ground and swings back and forth to maintain balance. Therefore, the authors parameterize the robot pose as SE(2) pose plus pitch according to the motion characteristics of TWIP. However, the authors do not omit disturbances in other directions but perform error modeling, which is integrated into the visual constraints and IMU pre-integration constraints as an error term. Finally, the authors analyze the influence of the error term on the vision and IMU constraints during the optimization process. Compared to traditional algorithms, the algorithm is simpler and better adapt to the real environment. Findings The results of indoor and outdoor experiments show that, for the TWIP robot, the method has better positioning accuracy and robustness compared with the state-of-the-art. Originality/value The algorithm in this paper is proposed for the localization and mapping of a TWIP robot. Different from the traditional positioning method on SE(3), this paper parameterizes the robot pose as SE(2) pose plus pitch according to the motion of TWIP and the motion disturbances in other directions are integrated into visual constraints and IMU pre-integration constraints as error terms, which simplifies the optimization parameters, better adapts to the real environment and improves the accuracy of positioning.

The environmental impacts of building stock have received significant attention as buildings release one-third of the total greenhouse gas emissions. Whole-building life cycle assessment (WBLCA) has become a trend to address this limitation by ensuring the best environmental performance of a building. However, the current WBLCA development faces many challenges, which makes it difficult to create reliable and comparable results. This study aims to conduct a critical literature review to summarize the current challenges in WBLCA applications and the emerging approaches that might address these challenges. Three main challenges are listed: variances in goal and scope definition, building structure complexity, and varieties in the LCA database and methods. Emerging approaches are also presented to address these challenges, including the integration of building information modeling into WBLCA and environmental product declaration applications in impact assessments. The findings of this study could support researchers and decision-makers with the most popular approaches to conduct WBLCA and achieve reliable outputs.

The purple tubers of Dioscorea alata L. have been found to contain a variety of bioactive chemical components, including anthocyanins, which make it significant to investigate the pre-protective effects of Dioscorea alata L. and its crude extracts on cells prior to oxidative stress. To establish a suitable oxidative damage model, an injured model of IPEC-J2 cells was created using H2O2 as the oxidant. Specifically, when the concentration of H2O2 was 120 μmol/L and the injured time was 8 h, the survival rate of cells decreased to approximately 70%, and the cells exhibited a noticeable oxidative stress reaction. Moreover, the crude extracts of Dioscorea alata L. demonstrated beneficial pre-protective effects on IPEC-J2 cells by increasing the total antioxidant capacity (T-AOC) and catalase (CAT) activities, augmenting the expression of total superoxide dismutase (T-SOD) and its genes, reducing the content of malondialdehyde (MDA) and the activity of glutathione peroxidase (GSH-PX) and its expression of genes, and promoting the expression of glucose transporter SGLT1 gene while reducing that of GULT2 gene, thereby facilitating the entry of anthocyanins into cells. In addition, the 50 μg/mL crude extracts effectively inhibited the phosphorylation of IκB and the p65 protein, thus reducing cellular oxidative stress. Given these findings, Dioscorea alata L. can be considered a natural antioxidant for practical breeding and production purposes, with an optimal concentration of crude extracts in this experiment being 50 μg/mL.

As construction activities become more intensive in developing countries, increasing improperly managed construction and demolition waste (CDW) brings serious environmental impacts. Recycling is a beneficial way to dispose of CDW that reduces environmental impact and brings economic benefits, especially for concrete. China is the country that generates the most CDW in the world, but its domestic recycling rate is much lower than that of developed countries. While the efficient technologies in developed regions have helped them to achieve a well-established recycling industry, whether these innovative technologies can be used to improve the concrete debris recycling targets in developing regions is unclear. This study examines whether innovations currently widely used in construction activities and materials can have a positive effect on the recycling of End-of-Life concrete materials in China. Results from modeling system dynamics imply that the introduction of innovative technologies in the recycling system of concrete debris can probably contribute to CO2 reduction (3.6% reduction) and economic benefits (2.6 times increase, but mainly from landfill charges and fines) from 2022 to 2030. Prefabrication and 3D printing significantly impact recycled concrete production and CDW recycling, and they are recommended as a priority for promotion. In contrast, carbonation is not suggested for application due to its minor role. Nevertheless, since the market share of innovative technologies and the basic CDW recycling rates are currently low in China, fluctuations in their usage are hardly to have a substantial positive impact. We suggest that financial support from the government is needed for upcycling by recyclers and technology providers to improve the base recycling rate in order for innovative technologies to make an effective contribution to the sustainable construction industry, creating a win–win situation for both the economy and the environment of the recycling system.

Accurate determination of soil water content is crucial for studying the local ecological water cycle, agriculture, forests and grasslands management, slope stability, environmental processes, and ecological problems. Current measurement methods of soil water content have challenges with the complicated operation, high costs, significant system errors, and soil type-specific accuracy. In this study, we proposed an alternative method to measure soil water content using the ratios of mass and density of water to vapor based on system science and thermodynamics. We derived the mass ratio and density ratio of water to vapor as a function of temperature from published data and validated the accuracy of the proposed method using observed temperature, relative humidity, and volumetric water content in two soil textures of medium and fine sand. We further demonstrated that the mass ratio function is independent of the nature of the water-containing media using theoretical and statistical analysis. The absolute error of soil water content between the calculated and measured ones is less than 1 % and is positively correlated with temperature. This study significantly improves the measurement accuracy of soil water content, eliminates the effect of water-containing medium on soil water content measuring, and has excellent potential for application in the field soil and even rock water content measurement.

Medium carbon steels have been widely used in the fields of tool and die manufacturing due to their outstanding hardness and wear resistance. In this study, microstructures of 50# steel strips fabricated by twin roll casting (TRC) and compact strip production (CSP) processes were analyzed to investigate the influences of solidification cooling rate, rolling reduction, and coiling temperature on composition segregation, decarburization, and pearlitic phase transformation. The results show that a partial decarburization layer with a thickness of 13.3 μm and banded C-Mn segregation were observed in the 50# steel produced by CSP, leading to the banded distributions of ferrite and pearlite in the C-Mn poor regions and C-Mn rich regions, respectively. For the steel fabricated by TRC, owing to the sub-rapid solidification cooling rate and short processing time at high temperatures, neither apparent C-Mn segregation nor decarburization was observed. In addition, the steel strip fabricated by TRC has higher pearlite volume fractions, larger pearlite nodule sizes, smaller pearlite colony sizes and interlamellar spacings due to the co-influence of larger prior austenite grain size and lower coiling temperatures. The alleviated segregation, eliminated decarburization and large volume fraction of pearlite render TRC a promising process for medium carbon steel production.

PurposeWhole building life cycle assessment (WBLCA) is a key methodology to reduce the environmental impacts in the building sector. Research studies usually face challenges in presenting comprehensive LCA results due to the complexity of assessments at the building level. There is a dearth of methods for the systematic evaluation and optimization of the WBLCA performance at the design stage. The study aims to develop a design optimization framework based on the proposed WBLCA method to evaluate and improve the environmental performance at the building level.Design/methodology/approachThe WBLCA development method is proposed with detailed processes based on the EN 15978 standard. The environmental product declaration (EPD) methods were adopted to ensure the WBLCA is comprehensive and reliable. Building information modeling (BIM) was used to ensure the building materials and assembly contributions are accurate and provide dynamic material updates for the design optimization framework. Furthermore, the interactive BIM-LCA calculation processes were demonstrated for measuring the environmental impacts of design upgrades. The TOPSIS-based LCA results normalization was selected to conduct the comparisons of various building design upgrades.FindingsThe case study conducted for a residential building showed that the material embodied impacts and the operational energy use impacts are the two critical factors that contribute 60–90% of the total environmental impacts and resource uses. Concrete and wood are the main material types accounting for an average of 65% of the material embodied impacts. The air and water heating for the house are the main energy factors, as these account for over 80% of the operational energy use. Based on the original WBLCA results, two scenarios were established to improve building performance through the design optimization framework.Originality/valueThe LCA results show that the two upgraded building designs create an average of 5% reduction compared with the original building design and improving the thermal performance of the house with more insulation materials does not always reduce the WBLCA results. The proposed WBLCA method can be used to compare the building-level environmental performances with the similar building types. The proposed framework can be used to support building designers to effectively improve the WBLCA performance.

Purpose This paper aims to present a pipeline to progressively deal with the online external parameter calibration and estimator initialization of the Stereo-inertial measurement unit (IMU) system, which does not require any prior information and is suitable for system initialization in a variety of environments. Design/methodology/approach Before calibration and initialization, a modified stereo tracking method is adopted to obtain a motion pose, which provides prerequisites for the next three steps. Firstly, the authors align the pose obtained with the IMU measurements and linearly calculate the rough external parameters and gravity vector to provide initial values for the next optimization. Secondly, the authors fix the pose obtained by the vision and restore the external and inertial parameters of the system by optimizing the pre-integration of the IMU. Thirdly, the result of the previous step is used to perform visual-inertial joint optimization to further refine the external and inertial parameters. Findings The results of public data set experiments and actual experiments show that this method has better accuracy and robustness compared with the state of-the-art. Originality/value This method improves the accuracy of external parameters calibration and initialization and prevents the system from falling into a local minimum. Different from the traditional method of solving inertial navigation parameters separately, in this paper, all inertial navigation parameters are solved at one time, and the results of the previous step are used as the seed for the next optimization, and gradually solve the external inertial navigation parameters from coarse to fine, which avoids falling into a local minimum, reduces the number of iterations during optimization and improves the efficiency of the system.

IntroductionThe erythrocyte membranes used in nanovaccines include high membrane stability, long circulation life, adaptability and extremely good bio compatibility. Nanoparticles encapsulated by erythrocyte membranes are widely used as ideal drug delivery vehicles because of their high drug loading, long circulation time, and excellent biocompatibility. The mannose modification of delivery materials can help target mannose receptors (MRs) to deliver antigens to antigen-presenting cells (APCs).MethodsIn this study, the antigen gene gp90 of avian reticuloendotheliosis virus (REV) was encapsulated with carboxymethyl chitosan (CS) to obtain CSgp90 nanoparticles, which were coated with mannose-modied fowl erythrocyte membranes to yield CS-gp90@M-M nanoparticles. The physicochemical characterization and immune response of the CS-gp90@M-M nanoparticles were investigated in vitro and in vivo.ResultsCS-gp90@M-M nanoparticles were rapidly phagocytized in vitro by macrophages to induce the production of cytokines and nitric oxide. In vivo, CS-gp90@M-M nanoparticles increased cytokine levels, the CD4+/8+ ratio, REV-specific antibodies in the peripheral blood of chicks, and the mRNA levels of immune-related genes in the spleen and bursa of immunized chicks. CS-gp90@M-M nanoparticles could be targeted to lymphoid organs to prolong the retention time of the nanoparticles at the injection site and lymphatic organs, leading to a strong, sustained immune response. Moreover, the CS-gp90@M-M nano-vaccine showed a lasting immunoprotective effect and improved the body weight of chicks after the challenge.ConclusionOverall, CS-gp90@M-M nanoparticles can be used in vaccine designs as an effective delivery carrier with immune response-enhancing effects.

The previous technology-centric development of smart cities mainly focuses on the numbers, diversities, and types of applied intelligent technologies, while the citizen-centric smart city has become an important paradigm for improving the sustainability of cities around the world. The

(1) Background: The mammary glands of the perinatal goats are susceptible to reactive oxygen species (ROS) leading to oxidative injury. Although

Potentilla anserina L polysaccharide (PAP) is known to regulate immunity. Poly(lactic-co-glycolicacid) (PLGA) is a type of drug carrier with biocompatibility and biodegradable USFDA approved polymer, which possesses the advantages of high safety and good sustained-release effect. The DEC205 receptor, a type I membrane protein, is widely distributed on the surface of macrophages and dendritic cells (DCs) and plays a key role in antigen recognition and presentation. In this study, we prepared Potentilla anserina L polysaccharide PLGA nanoparticles targeting DEC205 receptor (DEC205-PAPP) and characterized the nanoparticles with regards to their effects on immune activation in vitro and in vivo. In vitro, DEC205-PAPP promoted the uptake activity of macrophages and increased the secretion of NO and cytokines (IFN-γ, IL-4, IL-6, and GM-CSF), up-regulated the expression of CD80

As an ambitious strategy of national interest in China and with an aim at achieving the ‘one-hour economic circle’ among Greater Bay Area cities by 2035, the Guangdong-Hong Kong-Macao Greater Bay Area has been transformed into a world-class bay economic belt in South China. Consequently, the large-scale construction of transportation infrastructure inevitably resulted in the consumption of a lot of resources and significant environmental impact. Such a scenario could produce conflicts with Greater Bay Area’s commitment on the sustainable development goal, such as China’ carbon intensity reduction. In this study, the environmental impacts caused by highway pavement in Greater Bay Area at urban agglomeration level were quantified through life cycle assessment method, measured by greenhouse gas emissions (CO2eq). Our results show that the total emissions resulted from the use of materials during the construction of highway pavement, its maintenance, and rehabilitation phases in Greater Bay Area reached 4.4 (± 0.25) million tonnes CO2eq in 2018, of which material phase (material production and transportation to the construction site) accounted for more than 70% of the total impact. The construction phase of asphalt pavement is larger than the maintenance and rehabilitation phase, while the maintenance and rehabilitation phase of cement concrete pavement is larger than the construction phase. Moreover, a scenario-based analysis implies that the continuing growth of highway mileage in Greater Bay Area will accelerate the environmental impact till 2035. These findings can help understand the impacts of highway pavement in Greater Bay Area and provide useful support for policy-makers. In addition, the methods are useful for the quantification of greenhouse gas emissions of highway construction on city level in China and beyond.

Environmental, economic, and social activities involve inherent spatial dimensions. The geospatial information system (GIS), a platform containing principles, methods, and tools to link, create, visualize, analyze, and model artificial activities and environment, provides the possibility to develop sustainability in the building sector. With globally political collaborations across governments, the demands to manage and visualize sustainable data (e.g., building energy and environment with geospatial reference) and implement more rigorous building modelling are increasing. A systematic mapping at multiple scales will help urban engineers, architectural engineers, policymakers, and energy planners identify emission hotspots, locate spatial resources, restructure district energy mix, and achieve net zero energy targets. To achieve net zero energy goals, it is crucial to minimize energy consumption, improve energy efficiency, and most importantly, apply renewable energy in buildings. However, these processes imply many aspects and challenges, regarding e.g., data availability, scalability, integrability, and a lack of clear and applicable frameworks. In this conceptional perspective paper, we aim to explore the potential of applying and installing renewable energy in net zero energy buildings using the GIS. More specifically, the described virtual framework will effectively support policy- and decision-makers in optimizing the energy structure, reducing building emissions, and applying renewable energy technologies. We also present challenges, limitations, and future directions for real practice.

Nanoparticles targeting the DEC-205 receptor were found to induce antigen-specific protective immune response. When the delivery system carries both antigens and immunomodulators, it can maximize the expected therapeutic effect of the drug and induce effective humoral and cellular immune responses to antigens.In this study, we encapsulated the Eucommia ulmoides Oliv. polysaccharides (EUPS) into PLGA nanoparticles (NPs) and conjugated it with anti-CD205 monoclonal Ab (MAb) to produce a DEC-205 receptor targeted PLGA nanoparticles (anti-DEC-205-EUPS-PLGA NPs). The physicochemical characteristics and adjuvant activity of the above NPs were evaluated in vitro and in vivo. In the in vitro setting, 200 μg·mL

Environmental impacts (EIs) of building stocks have been receiving significant attention in recent decades as they consume more than 40% of the world's energy, release one third of total greenhouse gas emissions, and account for 30% of global landfill waste. Prior efforts have focused on mitigating EIs during the operation stage of buildings, while the environmental performance of other stages is relatively overlooked. Addressing this, whole-building life cycle assessment (WBLCA) has gained prominence from a life-cycle perspective to ensure the best environmental performance. However, there is an array of factors that can affect WBLCA results, and such uncertainties render decisions made for sustainable development untenable. Aiming to understand the comprehensive uncertain sources of WBLCA (what) and their corresponding solutions (how), this paper systematically reviews existing publications on WBLCA, presents its status and challenges, and analyses the taxonomy of uncertainties and eight uncertainty methods and variants thereof. Accordingly, a framework is developed that enables LCA practitioners to readily understand the correlation between WBLCA uncertainties and solutions, and conveniently locate and appraise them throughout the WBLCA process. Upon answering the known-what and known-how questions, this study contributes to the body of knowledge of LCA by providing a comprehensive and systematic methodology to evaluate the EIs of buildings.

Globally, the Architecture Engineering Construction (AEC) industry has seen a rise in the adoption of digital twin (DT) technologies due to their potential to enhance collaboration and information communication throughout the project lifecycle from the design to operation and maintenance (O&M) phase. However, empirical evidence on such adoption is fragmented, particularly for facility management (FM) activities during the O&M phase. Considering this gap, an illustrative case study approach is performed to analyze and compare the traditional practices of FM with DT-driven FM during the O&M phase using four geospatially representative cases. The findings show that DT technologies enable efficient and responsive planning and control of FM activities by providing real-time status of the building assets. However, barriers such as the misalignment of the data integration and data standards hamper their future implementation. To address this, a bottom-up conceptual framework is proposed to facilitate a wider implementation of DT technologies and support FM during the O&M phase of buildings. As such, this paper’s contribution is twofold: (1) it provides an aggregate landscape of DT application to manage facilities during the O&M phase, and (2) it develops an evidence-induced conceptual framework for stakeholders who are grappling with their FM decision-making processes.

Purpose The purpose of this paper is to improve control performance and safety of a real two-wheeled inverted pendulum (TWIP) robot by dealing with model uncertainty and motion restriction simultaneously, which can be extended to other TWIP robotic systems. Design/methodology/approach The inequality of lumped model uncertainty boundary is derived from original TWIP dynamics. Several motion restriction conditions are derived considering zero dynamics, centripedal force, ground friction condition, posture stability, control torque limitation and so on. Sliding-mode control (SMC) and model predictive control (MPC) are separately adopted to design controllers for longitudinal and rotational motion, while taking model uncertainty into account. The reference value of the moving velocity and acceleration, delivered to the designed controller, should be restricted in a specified range, limited by motion restrictions, to keep safe. Findings The cancelation of model uncertainty commonly existing in real system can improve control performance. The motion commands play an important role in maintaining safety and reliability of TWIP, which can be ensured by the proposed motion restriction to avoid potential movement failure, such as slipping, lateral tipping over because of turning and large fluctuation of body. Originality/value An inequation of lumped model uncertainty boundary incorporating comprehensive errors and uncertainties of system is derived and elaborately calculated to determine the switching coefficients of SMC. The motion restrictions for TWIP robot moving in 3D are derived and used to impose constraints on reference trajectory to avoid possible instability or failure of movement.

Purpose One of the development trends of robots is to enable robots to have the ability of anthropomorphic manipulation. Grasping is the first step of manipulation. For mobile manipulator robots, grasping a target during the movement process is extremely challenging, which requires the robots to make rapid motion planning for arms under uncertain dynamic disturbances. However, there are many situations require robots to grasp a target quickly while they move, such as emergency rescue. The purpose of this paper is to propose a method for target dynamic grasping during the movement of a robot. Design/methodology/approach An off-line learning from demonstrations method is applied to learn a basic reach model for arm and a motion model for fingers. An on-line dynamic adjustment method of arm speed for active and passive grasping mode is designed. Findings The experimental results of the robot movement on flat, slope and speed bumps ground show that the proposed method can effectively solve the problem of fast planning under uncertain disturbances caused by robot movement. The method performs well in the task of target dynamic grasping during the robot movement. Originality/value The main contribution of this paper is to propose a method to solve the problem of rapid motion planning of the robot arm under uncertain disturbances while the robot is grasping a target in the process of robot movement. The proposed method significantly improves the grasping efficiency of the robot in emergency situations. Experimental results show that the proposed method can effectively solve the problem.

In this article, the phase compositions, microstructures, and magnetic properties of PrNd-free Ce-Fe-B-based sintered magnets with the nominal composition of (Ce0.78Y0.17La0.05)16.28Febal.B7.44M1.94 (at.%: M = Co, Al, Cu, and Nb) have been investigated. It shows that a lamellar crystalline structure is formed in the Ce-Fe-B-based strip casting (SC) alloy. The Y-substituted Ce-Fe-B-based SC alloy is mainly composed of R2Fe14B and RFe2 phases. It suggests that Y substitution is helpful for depressing the $\alpha $ -Fe phase generated in the SC alloy. The island-like intermediate phases exist in the RFe2 region, which are probably caused by the incomplete peritectic reaction during alloy solidification. The Curie temperature $T_{\mathrm {c}}$ of the Y-substituted Ce-Fe-B-based alloy is about 463 K, which is higher than that of the Ce2Fe14B compound ( $T_{\mathrm {c}} =424$ K). For the experimental Ce-Fe-B-based sintered magnet without PrNd addition, the remanence $B_{\mathrm {r}}$ of 8.31 kG, the coercivity $H_{\mathrm {cj}}$ of 0.92 kOe, and the maximum energy product (BH)max of 5.30 MGOe have been obtained. A good combination of coercivity $H_{\mathrm {cj}}$ (= 5.57 kOe) and maximum energy product (BH)max (= 20.17 MGOe) has been achieved in the Ce-Fe-B-based blended magnet with PrNd/ $\sum $ RE = 25% prepared using a binary main phase (BMP) method. The heterogeneous elemental distributions and microstructure characteristics of the BMP magnet are also analyzed.

Human activities during each phase of coal mine life cycle greatly affect groundwater environment. The groundwater environment destruction is not just only the destruction of underground structure but also the social problems caused by available groundwater resources reduction, as well as the environmental problems affecting ecosystem and human health. Moreover, the groundwater environmental risk of coal mining is complex, dynamic, and long-term. Therefore, a framework and quantitative method for groundwater environmental risk analysis at different phases of the mine life cycle was presented, which is composed of the groundwater system destruction risk (GSDR) and social-economic-ecological vulnerability (SEEV) assessment. The framework was applied in Hongshan abandoned coal mine, North China. Based on the aquifer structure destruction, groundwater flow field evolution, contamination, and social-economic influence analysis, 12 main controlling factors for the GSDR and 7 factors for the SEEV were determined and quantified separately. The results showed that the groundwater contamination of the Hongshan mine mainly occurred after closure, caused by the cross-strata pollution of mine water, which significantly reduced the groundwater available resources, which greatly affected local social-economy sustainable development and residents’ health. The Hongshan mine closure increased groundwater environmental risk, with the GSDR high-risk zone being 12.51 km2 larger than that during the mining phase and the SEEV was calculated at a high level. This framework promotes systematic integration of the groundwater environmental risk assessment in mine life cycle.

Life cycle assessment can support decisions for improving the environmental performance of construction products. However, the amount of data required for developing life cycle inventories limits the adoption of LCA. This work associates the interpretation of the impact results of construction products at the unit process level with a quantitative definition for the foreground and background system, for guiding primary data collection towards foreground processes that can be affected by decision-makers in the construction sector. A set of construction products commonly used in Brazil is selected, and their cradle-to-gate life cycle inventories are modeled using the ecoinvent database (version 2). Life cycle impact assessment is performed using the ReCiPe Midpoint Hierarchist method. The contribution of each process during the life cycle of construction products for each impact category is quantified. These processes are associated with economic sectors, which are classified as belonging to the foreground or background system from the perspective of the construction industry. Foreground sectors are those controlled or influenced by the construction sector and are defined based on the production share consumed by the construction value chain. The elementary flows defining each impact category are also identified. Foreground processes show significant contributions to most impact results of construction products. Global warming, fine particulate matter formation, ozone formation, acidification, human carcinogenic toxicity, and terrestrial ecotoxicity are mainly caused by direct emissions and fossil fuel combustion in manufacturing processes. Land occupation for production activities contributes to land use change, while the consumption of fuels, raw materials, and water causes fossil and mineral resource scarcity and water consumption respectively. Freshwater and marine ecotoxicities and human non-carcinogenic toxicity have foreground contributions only for steel and copper products due to emissions from the landfilling of mining tails. Ionizing radiation and stratospheric ozone depletion are mostly driven by background processes. A reduced group of elementary flows covers a big share of the environmental impacts of most construction products. The results indicate priorities for life cycle inventory primary data collection of construction products, by focusing on foreground processes and the corresponding elementary flows that cause many of the potential embodied impacts of construction. Increasing the availability of primary data for these processes improves the reliability of LCA-based decisions in the construction sector, especially in countries which still lack local LCI databases.

The interactions between groundwater and its environment was investigated in prairie mining area in this study, through the groundwater system evolutions in mining area before and after the mining actions (from 1973 to 2016) of Yimin coal mine. The results showed that (1) the mining activities of the open-pit coal changed the original reduction environment into the oxidizing environment in the mining area. The pyrite and sulfur-bearing coal in the stratum oxidized, produced acid and triggered a series of subsequent reactions, resulting in the decrease in the pH value of the groundwater in the mining area. The concentration of SO42-, Fe2+, Fe3+, Ca2+ and Mg2+ and the total hardness increased. The regional hydrochemical type evolved from HCO3-Na·Ca·Mg type before mining to the type of HCO3·SO4-Na·Ca·Mg after mining. (2) Coal mining strongly draining underground water accelerated the regional groundwater circulation, and then made the groundwater desalination. The concentrations of TDS, COD and Na++K+ in the mining area all showed a decreasing trend. (3) The coal mining activities made the calcite and dolomite in saturated state under the natural condition of underground water to be unsaturated again. The hydro-geochemical action evolves from double control (water-rock interaction and evaporation-concentration) to water-rock interaction control.

Many construction activities generate fine particles and severely threaten the physical health of construction workers. Although many dust control measures are implemented in the industry, the occupational health risks still exist. In order to improve the occupational health level, this study proposes a new method of reducing the construction dust pollution through a reasonable site layout plan. This method is based on the field measurement and dust diffusion law. The dust diffusion law can be fitted based on the field monitoring data. With diffusion law, the average dust concentration exposed to workers of different site layouts can be simulated. In addition, the cost of the dust control method is a concern for site managers. Therefore, the total transportation cost reduction is another optimization objective. Finally, the multi-objective particle swarm optimization (MOPSO) algorithm is used to search for an optimized site layout that can reduce dust pollution and transportation cost simultaneously. The result shows that average dust concentration exposed to workers and total transportation cost are significantly reduced by 60.62% and 44.3%, respectively. This paper quantifies the construction dust pollution and provides site managers with a practical solution to reduce the construction dust pollution at low cost.

Small Island Developing States (SIDS) are heavily dependent on the use of imported fossil fuels to address their energy needs. This has a negative impact on the environment, SIDS budgets, and energy security. Therefore, this study aimed to investigate the role of renewable energy (RE) as a tool for energy security in SIDS. In this regard, using VOSviewer, a widely known software tool, two bibliometric analyses were performed with a focus on the literature that explores two intertwined issues: (i) the links between RE and energy security; and (ii) the implications of RE and energy security in SIDS. The results from the study show that RE can help SIDS enhance their energy security and assure long-term energy sustainability. In addition, the results show that with the reduction in the cost of batteries in the future, they will eventually replace diesel generators. Moreover, the study showed that renewable energy may assist SIDS in their long-term efforts to achieve food security. The analysis discusses the major obstacles and the potential solutions for the integration of RES into the energy generation of SIDS. The paper concludes with useful recommendations to help island nations reduce their carbon footprint.