With the aggravation of population aging, home health care services are paid more and more attention by the elderly. Previous studies aim at improving service quality and reducing cost, ignoring the coordinated and sustainable development of the economy and environment. From the perspective of sustainable development, this paper first establishes a linear optimization model considering transportation, time, and carbon emission costs. However, the uncertainty of service demand is a very difficult problem for HHC research. Most of the previous studies only (...) consider the deterministic model, which has difficulty dealing with the uncertain situation. Therefore, a robust optimization model is proposed to resist uncertain disturbances by introducing a robust uncertain set response. The experimental results show that the increase of low-carbon transition cost only increases the total cost of the LO model but has a significant positive impact on the RO model. With the increase of uncertainty, the robust model will pay the cost of robustness, but it can obtain a higher service level. In addition, when the carbon tax increases, the total transportation cost does not increase but decreases, thus obtaining environmental benefits. When the carbon tax increases by 25%, the average total cost of using the RO model is reduced by 8.274%. The research results of this paper can provide enlightenment and reference for the low-carbon transformation of HHC enterprises. (shrink)

In this paper, an adaptive fuzzy containment condtrol is considered for nonlinear multiagent systems, in which it contains the unknown control coefficient and actuator fault. The uncertain nonlinear function has been approximated by fuzzy logic system. The unknown control coefficient and the remaining control rate of actuator fault can be solved by introducing a Nussbaum function. In order to avoid the repeated differentiations of the virtual controllers, first-order filters are added to the traditional backstepping control method. By designing the maximum (...) norm of ideal adaptive parameters, only one adaptive parameter needs to be adjusted online for each agent itself. An adaptive fuzzy containment controller is constructed through the backstepping control technique and compensating signals. It is demonstrated that all the signals in nonlinear multiagent systems are bounded by designing adaptive fuzzy containment controller, and all followers can converge to the convex hull built by the leaders. The simulation studies can further confirm the effectiveness of the proposed control method in this paper. (shrink)

This paper presents an adaptive neural tracking control approach for a two-joint robotic manipulator with unknown time-varying delays. In order to work out the effect of unknown time-varying delays on the two-joint robotic manipulator, the appropriate Lyapunov–Krasovskii functionals and separation technology are chosen to settle this matter. The neural networks work as an approximator that has the advantage of estimating the unknown function in the system. In this paper, Lyapunov stability analysis can prove that all signals of the closed-loop system (...) are semiglobal uniformly ultimately bounded and the tracking error can converge to a compact neighborhood with respect to zero. The simulation consequences demonstrate the availability of the feedforward control approach. (shrink)

This article reports on the evolution of breakdance. Given the inclusion of breakdancing in the 2024 Olympic Games in Paris, France, scholars have generated substantial international research related to breakdance teaching in recent years. However, few researchers have focused on the impact of formal formative assessment on breakdance teachers’ teaching and students’ learning. We wish to contribute to the quality of breakdance teaching and learning by identifying the positive impact of recent research on formative assessment on student learning and designing (...) a formal formative assessment task related to breakdance. This article lays out a framework of formal formative assessment tasks and identifies the positive impact of formative assessment on dance education. Although our work is far from perfect, it does provide a general methodological framework for assessing breakdance students’ abilities in formal educational settings. (shrink)