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This study aimed to study the influence of the interactive budget on enterprise innovation performance from the perspective of managerial psychology, and to examine the mediating effect of managers' stress and the moderating effect of environmental turbulence in this influence. The study collected 228 managers' data in the Yangtze River Delta region of China through online questionnaires; the structural equation model is constructed by IBM SPSS Amos 24.0, and the data is analyzed by Mplus 7.4 and IBM SPSS 23.0. The results showed that: (1) an interactive budget positively affects enterprise innovation performance; (2) the role stress of managers plays a partial mediating role in the relationship between an interactive budget and enterprise innovation performance; (3) environmental turbulence positively moderates the relationship between the interactive budget and enterprise innovation performance; and (4) the positive effect of the interactive budget on enterprise innovation performance is more significant in enterprises with a high proportion of female managers, and the negative effect on the role stress of managers is more significant in high-tech enterprises. In theory, the results enrich the research on the impact of an interactive budget on individual managers' psychology, and further reveals the "black box" of the impact of an interactive budget on enterprise innovation performance; in practice, the results make enterprises attach importance to the influence of control environments on the psychological health of managers, and provides a reference for enterprises to use control methods rationally to promote innovation in budget management.

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Soft robots characterize operational safety due to inherent compliance from their soft mechanism, whereas their mechanism enhances the difficulty in accurate closed-loop control. To explore their applicability in manipulation tasks, in this article, we propose a visual servoing pushing controller considering the effect of contact. The controller is designed to simultaneously complete the positioning and manipulation tasks. To further improve the manipulation performance, an active pushing force regulation method is proposed and integrated into the controller. The proposed control algorithm is validated experimentally. The results show that the controller guarantees the convergence to the image error and meanwhile, it improves the pushing manipulation performance.

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Opto-thermocapillary flow-addressed bubble (OFB) microrobots are a potential tool for the efficient transportation of micro-objects. This microrobot system uses light patterns to generate thermal gradients within a liquid medium, creating thermocapillary forces that actuate the bubble microrobots. An interactive control system that includes scanning mirrors and a touchscreen interface was developed to address up to ten OFB microrobots. Using this system, the parallel and cooperative transportation of 20-µm-diameter polystyrene beads was demonstrated.