Performance Measurement Research Articles

Organizational performance as dependent variable in strategic human resource management literature – a journey so far

PurposeOrganizational performance (OP) is one of the most important constructs in management research and all functions are evaluated by their contribution toward OP. This paper evaluates the current state of the research on OP in strategic human resource management (SHRM) literature. The study intends to generate new ideas for ongoing research in the field, facilitate the strategic alignment of HR operations and provide practical guidance on adopting OP measurement metrics for evidence-based decision-making at both organizational and individual levels. Consequently, a dual-method systematic review methodology was employed to achieve the stated objectives. This research underpins its theoretical argument on a resource-based view.Design/methodology/approachThis research paper follows a systematic review of 127 empirical studies conducted in the last three decades, in which, the selection of OP as a dependent variable is evaluated. This systematic review followed the integrated and systemic review of literature combining Preferred Reporting Items for Systematic Reviews and Meta-Analyses (PRISMA) and bibliometric analysis. The tools used for bibliometric analysis are Biblioshiny package from R software and VOSviewer software.FindingsOut of selected 127 empirical studies, none of the studies provide a comprehensive measuring framework. As a result, the current literature review provides an expanded list of OP indicators and a measurement framework with 10 different performance perspectives based on Business Process Measurement literature.Research limitations/implicationsPerformance is a complex concept that requires understanding its relationships and the impact of context and measures. Objective measures alone may not capture this, so research is needed to determine the best combinations of subjective and objective measures. This systematic literature review identifies gaps in existing literature on performance measurement indicators in management and provides an exhaustive list of 161 indicators. These indicators can be used by practitioners and researchers to choose appropriate ones based on their needs. Future research should focus on case studies to validate results and enhance performance measurement systems in SHRM research.Practical implicationsThe study emphasizes the importance of examining the multidimensionality of OP, which is linked to stakeholders affected by performance measures, the assessment environment, and the time frame when gauging performance.Originality/valueThis review analyzed the intellectual structure of SHRM and OP research field and identified various research fronts. This study added to the literature a measurement framework with 10 perspectives in which 161 performance indicators were categorized.

Performance measurements of Total Body PET scanner simulations using the Geant4 toolkit

Total-Body PET (TB PET) is a novel imaging modality that can image the whole body in a single scan. It has increased sensitivity, improved spatial resolution, reduced imaging times compared to conventional clinical PET scanners, and has the potential to detect smaller lesions and multiorgan diseases. Commercially available TB PET scanners include the Siemens Biograph Vision Quadra [1] and the United Imaging uEXPLORER [2]. This study uses the Geant4 toolkit [3] to create a simulation model of two different TB PET detector geometries; Siemens Biograph Vision Quadra and uEXPLORER. Analysis of simulated data and performance measurements were carried out in Python. The study follows the NEMA NU-2 2018 standard [4]. The simulation was used to explore the effect of different scintillator crystals and evaluates the count rate performance and the sensitivity of the scanner. The simulated data was compared to published experimental data from Siemens and Explorer. Good agreement between the count rates of simulated and experimental data was observed for both geometries. The simulated Siemens Quadra measured a system sensitivity value of 178.6 cps/kBq showing a 2% difference compared to the experimental data of 175.3 cps/kBq for LSO crystals. Axial sensitivity profiles plotted also match well. The comparison of different scintillators showed that BGO performs best as it has the highest peak NECR, thus good signal-to-noise ratio. LSO and LYSO also perform well and their physical properties are similar. NaI and CsI exhibit the worst performance; with low true count rates and the random count rates increased almost linearly with activity concentration. Our simulations compared well against experimental data, allowing us to test further scintillator materials and radioisotopes. After implementing image reconstruction and relevant corrections, this simulation can be used for validation of various research ideas in the future. Please click on the 'PDF' for the full abstract!

Leveraging Technological Research Methodologies to Improve Employee Performance in Organizations

The effective management of human resources in organizations is imperative for attaining optimum performance and eventual profitability. The increasingly competitive marketplace has compelled organizations to work towards attaining operational excellence, which heavily relies on the performance of its human resources. The adoption of cutting-edge research techniques has emerged as a pivotal strategy as organizations endeavour to achieve operational excellence. However, human resource managers have had to grapple with various challenges associated with the management of employee data generated and managed through digital platforms and tools, including issues such as data safety and security. This paper explores the intersection between tech-enhanced, advanced research methodologies and employee performance that is geared toward sustainable economic growth at the organizational level. Notably, the paper examines big data analytics as a tech-enhanced research tool leveraged by organizations in a bid to understand their human resource and the best way they can be managed to ensure high performance, which translates into high productivity and competitiveness in their respective sector or industries. In particular, this paper conducts a comprehensive review of recent extant literature regarding the adoption of big data analytics, which has revolutionized how organizations collect and analyze vast amounts of data, thereby enhancing their decision-making process. The reviewed literature focused on human resource aspects such as recruitment and selection; employee development; employee performance management and compensation structures. The review revealed that big data has emerged as a critical tool for managing large volumes of data that are acquired via numerous digital tools as organizations grapple with the integration of technology into their human resource practices. The technologies have helped human resource managers with these structured and unstructured data, they gain insight that in turn, guides their decision-making processes and improves the overall operational efficiency. The review outlines the transformative potential of integrating big data tools with human resource management and recommends that organizations should invest in these tools to enhance their recruitment and selection, employee development, performance measurement and upgrade their compensation structure.

Construction 4.0 implementation for performance improvement: an innovation management perspective

Purpose The emergence of Construction 4.0 technologies provides an impetus for radical change and rejuvenates the interest of stakeholders in addressing long-standing performance issues in the construction sector. However, construction firms struggle to implement Construction 4.0 technologies for performance measurement and improvement. Therefore, the purpose of this research is to develop a conceptual model of innovation management for implementing Construction 4.0 that guides and facilitates the strategic transformation of construction firms. Design/methodology/approach A conceptual model of innovation management is presented, and the findings are synthesised based on a literature review, 20 semi-structured interviews, two focus group discussions, three workshops, expert consultation and observations on three digitally-enabled projects. Data were inductively analysed using thematic analysis. Findings The analysis of empirical data revealed: (i) Four scenarios that could lead the industry to different futures, based on the extent of research and development, and the extent of integration/collaboration; (ii) Construction 4.0 capability stages for a sustained implementation route; (iii) Possible business model configurations derived from servitisation strategies; and (iv) Skills management challenges for organisations. Research limitations/implications First, the empirical data was only collected in the UK with its unique industry context, which may limit the applicability of the results. Second, most of the research data comes from the private sector, without the views of public sector organisations. Third, the model needs to be further validated with specific data-driven use cases to address productivity and sustainability issues. Practical implications Successful Construction 4.0 transformation requires a concerted effort of stakeholders, including those in the supply chain, technology companies, innovation networks and government. Although a stakeholder’s action would depend on others’ actions, each stakeholder should undertake action that can influence the factors within their control (such as the extent of collaboration and investment) and the outcomes. Originality/value The conceptual model brings together and establishes the relationships between the scenarios, Construction 4.0 capability stages, business models and skills management. It provides the first step that guides the fuzzy front-end of Construction 4.0 implementation, underpins the transformation to the desired future and builds long-term innovation capabilities.

Pengaruh Penganggaran Berbasis Kinerja Terhadap Kenaikan Tunjangan Kinerja Bawaslu Dalam Perspektif Hukum Keuangan Negara

This research explores the impact of performance-based budgeting on the increase in the performance allowance of Indonesia's Election Supervisory Agency (Bawaslu) from the perspective of state financial law. This research examines how performance-based budgeting, which emphasises efficiency, effectiveness, and accountability, affects financial management and justifies the increase in allowances. By analysing the legal framework, empirical data, and performance metrics, this study aims to provide a comprehensive understanding of the alignment between budget allocations and performance outcomes in Bawaslu. The method used is normative research with primary, secondary and tertiary legal materials. The data generated from legal materials are described to find objective results. The results of this study The use of a performance-based budgeting system (ABK) by Bawaslu has influenced the policy of increasing performance allowances. Bawaslu's performance measurement refers to the principles of state finance, including efficiency, economic effectiveness, accountability, responsibility, professionalism, proportionality, and openness. The increase in Bawaslu's performance allowance is in accordance with the performance improvement that has been evaluated by Menpan RB, which is the institution responsible for bureaucratic reform.

Impact sound insulation performance measurements on CLT floors – Effect of excitation source type: Tapping machine and rubber ball

Laboratory and field measurements of the impact sound acoustic performance of a CLT wood-based floors have been performed. French national regulation requires the use of the standardized tapping machine for impact sound performance measurements. Since the early 2000s, rubber ball impact source has been standardized in some Asian countries to measure and evaluate the low frequency impact sound performance of floors; this excitation source is now part of international standards concerning building acoustic measurement in laboratories and in-situ. Indeed, the impact sound level associated to this soft impact source is supposed to provide a better correlation with annoyance from jumping and/or running children in buildings. The paper reviews the measurements performed using the standard tapping machine and the rubber ball as impact source, on CLT based floors in a laboratory, as well as those on the CLT based experimental building. Impact sound improvements are presented and discussed. The necessity of measuring with both impact sources, rather than only with the tapping machine is examined.

Fuzzy Logic Based Adaptive Parameter Estimation System in Moving Measurement Systems

Fast and accurate weighing of the weighing systems used in industrial filling systems is of great importance in terms of increasing production capacity and maintaining product quality. In facilities that grind and process grain, machines and equipment are positioned horizontally and vertically on steel structures. Since these machines continuously perform grinding, transferring, filling, and emptying operations, they create continuous vibration in the mechanical systems they are connected to. Moving weighing systems are significantly affected by these mechanical systems. When the impact effect of pneumatic valves-controlled covers in moving weighing systems is added to these structural mechanical vibrations, there are significant waits and delays in weighing systems that measure performance. For this reason, in a performance measurement system in a flour mill, the measurement interval increases as the amount of weighing increases. For example, in a moving weighing system that performs 50 kg performance weighing, the measurement interval can increase up to 15 seconds, which is quite long. In this study, an applied study has been conducted to increase the weighing performance in moving weighing systems and to minimize the measurement interval. The data collection process in the study focuses on two main components: load cell data and IMU data. Thus, it is aimed to overcome the difficulties of traditional methods used in weighing systems, which are generally observed to be insufficient to combat slow and noisy data. The analysis techniques used in this study are Kalman Filtering, Dynamic Q and R Matrix Updates, Comparative Analysis and Statistical Analysis. The Kalman filter was used for the integration of Load cell and IMU data and was applied to filter out noise and oscillations in the weighing data and make more accurate weight estimates. The results obtained showed that the dynamic Kalman filtering method can provide faster and more accurate weighing results compared to traditional methods, with error rates varying between 0.4% and 1% for different combinations of Q and R values in measurements made on the scale. Dynamic Kalman filtering method effectively filters oscillatory and noisy load cell signals, with error rates of 0.7% to 1% for Q=0.02 and R=17 parameters, and error rates of 0.4% to 0.7% for Q=0.07 and R=13 parameters. was able to obtain more accurate weight estimates. This study has shown that the dynamic Kalman filtering method is a potential method that can be used in industrial filling systems. This method can contribute to increasing production capacity and maintaining product quality by providing faster and more accurate weighing results. In this respect, the research has a unique contribution. This method provides a revolutionary development in industrial weighing systems and fills an important gap in the literature.

A Novel Performance Measurement of Innovation and R&D Projects for Driving Digital Transformation in Construction Using Ordinal Priority Approach

A Novel Performance Measurement of Innovation and R&D Projects for Driving Digital Transformation in Construction Using Ordinal Priority Approach

Using Unintended Consequences to Produce Intended Results: The Governance of Education in Sweden 1991-2020

This paper explores the linkages between institutional reform and performance management, and presents a previously unexplored new purpose of performance management. It argues that institutional reform relocating formal authority across institutional levels provides a context where indirect or unintended consequences of performance management can help compensate for a loss of formal authority. By using measurements of performance, central institutions could maintain some degree of control over areas where decentralization has deprived them of formal authority. The paper focuses the governance of education in Sweden where New Public Management and decentralization were concurrent reform campaigns in the 1990s. It analyzes Swedish central government’s use of performance management tools 1991-2020 based on a mapping of educational sector reform, regulations and policy documents, interviews with senior political and administrative officials, and performance statistics. The paper shows that the Swedish central government in the wake of an extensive decentralization reform turned to performance measurement as an instrument to control local authorities’ and schools’ delivery of public education. It increased the performance measurement of executive agencies and programs, developed instruments to measure the performances of local governments and schools, and tools to assess student results.

Modeling inter-organizational business process governance in the age of collaborative networks

Collaborative networks require inter-organizational business process governance (IO-BPG) mechanisms to define ownership over shared resources and activities, accountability over operations, inter-organizational roles and responsibilities, and strategic partner alignment. We developed an IO-BPG modeling approach aiming to incorporate (1) IT governance activities (e.g., IT performance measurement), (2) data governance activities (e.g., data strategy management), and (3) “shadow” parallel governance-related operations. Resulting from a design science research project, our contributions include the building blocks (domain attributes, ontology, and requirements) of a novel BPMN extension, its demonstration in logistics operations, its evaluation, and design principles to guide IO-BPG modeling. Suggestions for the development and evaluation of future BPMN extensions are also highlighted based on the lessons learned in this project. For practitioners, our contribution can improve accountability reports over data assets and operations, identify dataset ownership, assist in the coordination of governance activities in networked businesses, and comply with regulations and strategic partnership agreements.

Residential treatment program outcome evaluation: one agency’s discoveries about performance measurement

ABSTRACT This paper explores the design and implementation of a comprehensive, continuous outcome evaluation for youth in therapeutic residential care (TRC) to measure program efficacy, based on The Joint Commission (TJC) accreditation guidelines. Over a 10-year implementation period, researchers analyzed changes in 281 residential care youth from baseline to reassessment after 4–6 months in treatment. The primary assessment instruments included the SASSI-A2, the FACES III, the Measure of Psychosocial Development (MPD), the Behavioral and Emotional Rating Scale (BERS), and the Youth Comprehensive Risk Assessment (YCRA). Results indicated reductions in the risk areas of self-harm, conduct disorder behaviors, and substance abuse. Significant increases occurred in psychosocial development, family engagement, and personal strengths. However, results also revealed continued low levels of youth development in trust vs mistrust, ego integrity vs despair, willingness to disclose loss of control, recognition of negative consequences of substance misuse, and response to conduct disorder treatments. Implications and recommendations for ongoing program evaluation, staff development, and institutional change are discussed.

Review of floor impact sound insulation performance measurement evaluation methods and timber floor specifications in Japan

Since the 1970s, heavy-weight floor impact noise has been a concern in Japan, prompting the development of unique measurement and evaluation methods standardized by JIS (Japanese Industrial Standards). JIS A 1418-1 specifies the measurement method for light-weight floor impact sound insulation performance, while JIS A 1418-2 defines the measurement method for heavy-weight floor impact sound insulation performance. Two types of standard impact sources, namely car-tire impact source and rubber ball impact source, are specified for measuring the heavy-weight floor impact sound insulation performance. JIS A 1419-2 defines the evaluation method for floor impact sound insulation performance. These methods differ from the international ISO standards, making performance comparison challenging. This paper provides an overview of these Japanese methods. Furthermore, since the enforcement of "the Act on Promotion of Use of Wood in Buildings to Contribute to the Realization of a Decarbonized Society," construction of timber buildings has been promoted in Japan with the aim of encouraging wood usage and contributing to the SDGs (Sustainable Development Goals). However, the floor impact sound insulation performance of timber floors tends to be low, with various specifications for timber floor cross-sections differing among private companies. This paper introduces these specifications and also compares driving-point impedances.

Determinant state earnings qualities better than Private Pharmaceutical Companies

Purpose: Comparative Earning Quality of State and privately pharmaceutical companies listed on Indonesian Stock Exchange (BEI) between 2019-2023 period with liquidity, profitability, solvency and efficiency ratio. Methodology/approach: After collecting the necessary data, appropriate financial ratios and descriptive statistical techniques are used to analyze, interpret and provide a brief overview of the data collected. the comparison involves two state-owned and two privately-owned pharmaceutical discretionary accruals and earnings persistence for earnings quality, and net profit margin, current ratio, debt-to-equity ratio, and total asset turnover for financial performance measurements. Findings: net profit margin, current ratio, debt to equity ratio, dan total asset turnover have significant differences in the variables private are superior to those of state pharmaceutical companies. This recommends the importance of improving earnings quality of State pharmaceutical companies Practical implications: these companies should refrain from earnings manipulation to foster strong and high-quality financial performance, particularly within Indonesia's pharmaceutical sector. Originality/value: This comparison aims to contribute to financial management research by providing insights into the performance of different types of pharmaceutical companies based on earnings quality and financial statement ratios, thus offering academic contributions to the field.

Paradigm shift in mechanical system design: toward automated and collaborative design with digital twin web

AbstractAnalyzing multi-vendor mechanical system designs requires a significant amount of manual work, resulting in a design paradigm where analysis is conducted only after the design is locked and components are selected. This leads to a suboptimal design with compatibility issues, over-dimensioned components, inferior performance, poor energy efficiency, and a lack of collaboration between OEMs (original equipment manufacturers) and system integrators. To overcome these issues, this paper proposes Co-Des (collaborative design) framework for automated and collaborative multi-vendor system design. The framework relies on standardized digital twin documents (DTD) of system designs, components, and analyses. The discoverability and distribution of these DTDs are enabled with digital twin web (DTW). Co-Des framework allows for finding suitable components for the design task by automatically running selected analyses employing component digital twins. In addition, OEMs can provide customized components for system integrators using the initial system design defined in the system design DTD. The use of the Co-Des framework was demonstrated with a windmill powertrain design use case, and the applicability of the automated assembly analysis for component selection was verified with performance measurements. The adoption of the proposed framework will lead to a paradigm shift from manual and siloed work relying on the exchange of PDFs to a more automated and collaborative design of mechanical systems. The adoption rate is defined by the willingness of system integrators to publish their initial system designs and OEMs their components as public digital twins.

Analisis Keterkaitan Kualitas Pendidikan, Nilai Pelanggan di Sekolah Swasta Melalui Pendekatan Balanced Scorecard.

The use of the Balanced Scorecard method in performance measurement including determining teaching quality and customer value, allows assessment of financial aspects, customers, internal business processes, and learning and growth based on the goals that the organization has set. This measurement is based on the organization's stated goals, vision and mission. With the Balanced Scorecard, SMKN 2 Rangkasbitung obtained a comprehensive picture of its teaching quality and customer value, including the school's ability to fulfill the satisfaction of educational stakeholders. This research used a descriptive qualitative approach, with interview, observation and documentation techniques. Data analysis techniques recommended by Miles and Hubermen are data reduction, data presentation and conclusion drawing based on themes in the research. In the context of education, the Balance Scorecard serves as a guide to measuring and improving the performance of educational institutions comprehensively, and obtaining commitment from project participants and clarifying the framework for implementation and management that must be implemented after the preparation of the initial Balance Scorecad, as well as helping institutions to translate vision, mission into concrete actions through performance measurement from various perspectives and used to boost the organization's ability to multiply performance

Performance of agricultural extension agents in Indonesia: evidence from a nationally representative survey

ABSTRACT Purpose This study analyses the performance of field extension agents in Indonesia using a multi-dimensional performance indicator. Methodology The study uses data from an online survey of a nationally representative sample of 1,974 field extension agents. Binary and ordinal probit models are utilised to analyse the performance of extension agents and the factors influencing it based on a multi-dimensional measurement of performance. Findings and practical implications Improved performance is associated with increased career progression, availability of external funds, the opportunity to collaborate, involvement in government programs, implementation of disciplinary measures and a diversified use of advisory methods. To promote performance, the government should encourage and improve the institutional arrangements. Theoretical implications This study introduces a multidimensional measurement that covers timeliness, targeting and content dimensions while capturing both the institutional arrangement and demographic characteristics in explaining performance. Originality/value This study introduces an online survey for extension agents that encompasses a nationally representative sample, thereby demonstrating this cost effective approach designed for rapid data collection and facilitating the measurement of performance during unforeseen events, such as the Covid-19 pandemic. Its broad applicability allows for a thorough analysis of agricultural extension agents’ performance in a variety of contexts.

Assessing the Sustainability Reporting Transparency and Engagement of European Energy Companies

Energy companies are facing increasing pressure from institutional and industry stakeholders to prioritize their responsibility to the environment and society, including providing accurate, reliable, and comprehensive reports on their sustainability practices. Three metrics were developed in this study: the average sustainability reporting score and two sustainability performance reporting indices based on two different performance measurement methodologies. These were designed to assess the effect of mandatory non-financial disclosure on sustainability reporting and the level of transparency and engagement of energy companies. The study also examined the relationship between the level of sustainability reporting and sustainability performance in the period of 2016–2019 by correlating these metrics. The analysis sheds light on the effectiveness of non-financial disclosure regulations in promoting sustainability practices in the energy industry. The results revealed no difference in metric scores prior to, or even following, the adoption of Directive 2014/95/EU. Energy companies performed better in terms of sustainability when more indicators were reported. Their primary focus was on the economic aspect of sustainability, particularly corruption. They gave less importance to the environmental aspect, mainly reporting on emissions. The social aspect received the least attention, although indicators for employee education and training were mentioned most frequently. The analysis showed that the metrics are statistically significantly correlated and complement each other, highlighting the need to consider a variety of metrics when assessing sustainability performance in the energy industry.

A EVALUASI KINERJA CWDM 8 CHANNEL DENGAN VARIASI PANJANG GELOMBANG: FOKUS POWER LINK BUDGET, SNR DAN BER

The need for internet connection continues to grow and is the main priority of the Indonesian population. The use of fiber optic as a transmission system aims to increase data transfer speed and is resistant to interference. The use of CWDM technology can overcome high traffic volumes by dividing the wavelength. PT. Surya Citra Media has a network that connects the SCTV tower office with the IVM office in Daan Mogot. This study examines the performance of the CWDM fiber optic network link SCTV Tower - IVM Daan Mogot. The CWDM used has a capacity of 8 channels with a wavelength of 1310nm to 1450nm with a channel spacing of 20nm. This study was conducted to evaluate the 8-channel CWDM fiber optic network through performance measurements. The performance of the fiber optic network is focused on the parameters of the power link budget, SNR and BER. The results showed a power link budget of -9.407 dB and an SNR value with the smallest value of 37.0864 and the largest of 37.6150 dB. While the BER value ranges from 10-10 to 10-11. So that the network can be declared feasible based on the evaluation results.

PENGARUH REMUNERASI, PENGUKURAN KINERJA, DAN ANALISIS JABATAN TERHADAP KUALITAS MUTU PEKERJAAN PEGAWAI DI BIRO KEUANGAN UNIVERSITAS NEGERI JAKARTA TAHUN 2022

Nowadays, people are increasingly smart and aware of getting quality products or services. People are very intelligent and understand about quality products or services. For this reason, an institution is required to provide quality products or services to provide satisfaction to consumers. Providing quality products or services, of course, cannot be separated from the extent of human resources (HR) owned by an institution. The reason is, through quality human resources, quality products or services will of course be produced. In the midst of increasingly tight business competition like today, improving the quality of employees is one of the important things for an institution. Because, the quality of products and services is largely determined by technology, systems, work methods and personal integrity to contribute the best quality work. Several factors that influence the quality of employee work are 1. Remuneration is a component that can increase employee motivation. With appropriate remuneration, an employee will work at his best. In this way, remuneration is something that can influence employee productivity and work performance; 2. Performance measurement is a process of assessing work progress against predetermined goals and objectives, including information on the efficiency of resource use in producing goods and services; 3. Job Analysis is a systematic process that aims to find out about the main points of the position which consists of several tasks, jobs, authority and responsibilities, as well as about the qualification provisions for the things sought such as experience, expertise, ability, education so that they can carry out their duties well in their position.

Convolutional-Neural-Network-Based Autonomous Navigation of Hera Mission Around Didymos

The European Space Agency (ESA)’s Hera mission requires autonomous visual-based navigation in order to safely orbit around the target binary asteroid system Didymos and its moon Dimorphos in 2027. Nevertheless, the performance of optical-based navigation systems depends on the intrinsic properties of the image, such as high Sun phase angles, the presence of other bodies, and, especially, the irregular shape of the target. Therefore, to improve the navigation performance, thermal and/or range measurements from additional onboard instruments are usually needed to complement optical measurements. However, this work addresses these challenges by developing a fully visual-based autonomous navigation system using a convolutional-neural-network (CNN)-based image processing (IP) algorithm and applying it to the detailed characterization phase of the proximity operation of the mission. The images taken by the onboard camera are processed by the CNN-based IP algorithm that estimates the position of the geometrical centers of Didymos and Dimorphos, the range from Didymos, and the associated covariances. The results show that the developed algorithm can be used for a fully visual-based navigation for the position of the Hera spacecraft around the target with good robustness and accuracy.