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In this paper, we investigate a single-machine scheduling problem with periodic maintenance, which is motivated by various industrial applications (e.g. tool changes). The pursued objective is to minimise the number of tardy jobs, because it is one of the important criteria for the manufacturers to avoid the loss of customers. The strong NP-hardness of the problem is shown. To improve the state-of-the-art exact algorithm, we devise a new branch-and-bound algorithm based on an efficient lower bounding procedure and several new dominance properties. Numerical experiments are conducted to demonstrate the efficiency of our exact algorithm.