Conventional potential field (PF) methods for unmanned aerial vehicle (UAV) navigation often fail in dynamic environments, particularly when obstacles and targets move with acceleration. In such cases, the repulsive forces generated by conventional PF approaches are insufficient, leading to oscillations, delayed responses, or even collisions. This paper presents an acceleration-based potential field (AB-PF) method designed to address these limitations by incorporating acceleration terms of both the UAV and the obstacles directly into the repulsive potential formulation. The resulting controller anticipates obstacle motion more effectively, enabling smoother avoidance and faster convergence to the desired path. The proposed method is validated experimentally using multiple UAV scenarios, including circular, infinity-shaped, and helical trajectories, with both static and accelerated obstacle drones. Performance is evaluated using key metrics: trajectory tracking error; root mean square error (RMSE), minimum and average separation distances, convergence time, and peak acceleration. Results demonstrate that AB-PF consistently outperforms conventional PF and Fuzzy-PF approaches. On average, AB-PF reduces RMSE by 25%–40%, increases separation distances by 15%–30%, and decreases convergence time by 20%–35%, while requiring up to 25% lower peak acceleration. These findings confirm that AB-PF improves both safety and dynamic smoothness in UAV motion planning, making it a promising strategy for real-time navigation in complex environments with accelerated obstacles.
Abstract Building information modeling (BIM) has transformed project delivery into a collaborative, data-dependent process, but construction law still tends to organize responsibility around discrete documents, bilateral duties, and physical defects. This article defines digital damage as a legally relevant impairment of the integrity, accessibility, reliability, authorship, evidentiary value, interoperability, or security of project information that causes or materially contributes to a recognized loss. Using doctrinal and structured comparative analysis of the United Kingdom, United States, and European Union, the article distinguishes nonactionable technical malfunction from contractual breach, evidentiary impairment, economic loss, intellectual property infringement, cybersecurity incident, and recoverable damage. It applies contractual liability, negligence, misrepresentation, causation, and risk allocation rules to corrupted models, inaccurate model reliance, interoperability degradation, access denial, and shared authorship. The case analysis shows that existing doctrine can protect access, reliance, performance expectations, and contractual risk allocation, but does not itself create a comprehensive BIM compensation regime. The article therefore proposes a differentiated matrix linking each digital incident to its legal characterization, responsible actor, evidence, recoverable loss, contractual provision, insurance response, and dispute mechanism. It concludes that effective compensation requires express model status and reliance clauses, binding information management duties, auditable digital records, proportionate cybersecurity obligations, and specialist dispute and insurance arrangements.
PurposeAs the race toward net-zero intensifies, manufacturing firms are rethinking how innovation can serve as a catalyst for sustainable transformation. This study explores how ambidextrous green innovation, integrating both exploratory and exploitative innovation strategies enables small- and medium-sized enterprises (SMEs) to achieve net-zero based green performance. Drawing on dynamic capabilities theory, the study constructs and empirically tests a conceptual framework that connects innovation ecosystem engagement, innovation capability and ambidextrous green innovation. It further examines how the broader innovation ecological environment enhances these relationships and supports sustainability outcomes.Design/methodology/approachData were gathered through a three-wave, time-lagged survey from Chinese manufacturing SMEs. The proposed hypotheses were tested using Hayes' PROCESS macro, allowing for robust analysis of both mediation and moderation effects.FindingsThe results confirm that strong collaborative linkages with core organizations and service intermediaries significantly enhance innovation capabilities. Moreover, a supportive innovation ecological environment strengthens the influence of innovation capability on ambidextrous green innovation. In turn, ambidextrous green innovation contributes positively to net-zero based green performance.Originality/valueThis study provides a novel theoretical integration by linking innovation ecosystem, innovation capability and ambidextrous green innovation within the framework of dynamic capabilities theory. It extends the literature by empirically demonstrating how these constructs jointly influence net-zero based green performance in SMEs. Additionally, it highlights the contextual importance of the innovation ecological environment in strengthening the pathway from innovation capability to ambidextrous green innovation, offering valuable insights for both theory and managerial practice in sustainability-driven innovation.
PurposeThe research aim was to work on the discrepancies and ambiguities that have emerged with the application of individual multi-criteria decision-making (MCDM) methods in the determination of key factors in sustainable supply chain management. It aims at improving reliability of the decision-making process by suggesting an aggregation procedure to combine the various decision outcomes.Design/methodology/approachSeveral decision methods, including analytic hierarchy process (AHP), best-worst method (BWM) and fuzzy AHP, were employed to assess and rank the factors for achieving sustainability in steel supply chain. These methods produce different ranking since they make different assumptions, have different preference structures and different data processing mechanisms. To counter this, we made use of the half quadratic (HQ) theory to enable us to compile these rankings. HQ-based method combines varying expert estimation and methodological opinion into single final ranking.FindingsThe HQ-based aggregation can improve consistency and sturdiness of the final ranking; it eliminates the difference in approach. This method facilitates stable and consistent decision-making and helps in consistent strategic planning and policy making of sustainable supply chain management.Originality/valueThe novelty of this study lies in the use of HQ theory in aggregating the ranking based on two or more decision-making methods. It shows how this method is effective in eliminating the uncertainty that comes with single method methods as well as reveals how aggregating is important in enhancing the validity of MCDM in the use of sustainability in analysing a supply chain.
Designing efficient, stable, and environmentally friendly metal-free electrocatalysts is a significant challenge in the development of next-generation clean energy systems. In this study, a novel D-A type organic small molecule, 2,3,6,7-tetra(thiophen-2-yl)quinoxaline (TTQx), was designed and synthesized to act as a metal-free bifunctional electrocatalyst, which was effectively active in both the hydrogen evolution reaction (HER) and oxygen evolution reaction (OER). This study experimentally investigated the thermal, optical, and electrochemical properties of the TTQx molecule, which were complemented by DFT-derived HOMO and LUMO energy levels. Electrostatic surface potential (ESP) mapping and structural analysis of a high-quality TTQx single crystal were performed to interpret the charge-density distributions and reveal the atomic-level characteristics governing the active sites for the HER and OER. TTQx demonstrated outstanding catalytic performances in various electrolytes, namely, 0.5 M H2SO4, 1.0 M KOH, and 1.0 M PBS, with low HER overpotentials of -108, -152, and -163 mV and OER overpotentials of 233, 251, and 271 mV at 10 mA cm-2, respectively. Remarkably, TTQx maintained a high catalytic activity for over 24 hours of continuous operation in all electrolytes, with minimal degradation. Furthermore, TTQx-based devices delivered a current density of 10 mA cm-2 at low cell voltages of 1.66 V in H2SO4, 1.76 V in KOH, and 1.79 V in PBS while maintaining a stable overall water splitting performance for over 70 hours. Notably, the superior performance of TTQx under acidic conditions highlighted the durability of this organic small molecular electrocatalyst. This work establishes an entirely metal-free electrocatalyst based on a pi-extended organic small molecule that efficiently drives both the HER and OER, highlighting the potential of pi-conjugated heterocycles for sustainable green hydrogen production via water splitting process.
