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The purpose of this paper is to propose a hybrid position/force control scheme using force and vision for docking task of a six degrees of freedom (6-dof) hydraulic parallel manipulator (HPM).

The vision system consisted of a charge-coupled device (CCD) camera, and a laser distance sensor is used to provide globe relative position information. Also, a force plate is used to measure local contact forces. The proposed controller has an inner/outer loop structure. The inner loop takes charge of tracking command pose signals from outer loop as accurate as possible, while the outer loop generates the desired tracking trajectory according to force and vision feedback information to guarantee compliant docking. Several experiments have been performed to validate the performance of the proposed control scheme.

Experiment results show that the system has good performance of relative position tracking and compliant contact. In whole docking dynamic experiment, the amplitudes of contact forces are well controlled within 300 N, which can meet perfectly the requirement of the amplitude being not more than 1,000 N.

A hybrid position/force control scheme using force and vision is proposed to make a 6-dof HPM dock with a moving target object compliantly.

The objective is to address financing challenges with an innovative technical approach and provide financial support to facilitate the sustainable development of characteristic tourist towns.

In this study, a novel decision model is proposed, which utilizes the CRITIC improved G1 weighting method to analyze financing factors and applies GRA to enhance the TOPSIS model under a Z-Number fuzzy environment. Finally, sensitivity analysis and comparative assessment were conducted to validate the findings and the model.

The findings indicate that equity financing is the optimal mode of financing for characteristic tourist towns, with bond financing serving as a viable alternative. Key factors influencing financing include economic benefit, social benefit and policy risk. Managers should carefully consider these factors when selecting financing methods in order to enhance efficiency and mitigate risks.

As a new business model and value creation method of cultural and tourism integration, the financing decision of a characteristic tourism town has always been the key to the overall promotion and operation. The research constructs a financing index system for characteristic tourism towns based on benefit and risk considerations, using the hot spring town in Anhui Province, China, as a case study to evaluate eight financing models.