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This method will become a new development trend in subgrade structure design for high speed railways.

This paper summarizes the structural types and design methods of subgrade bed for high speed railways in China, Japan, France, Germany, the United States and other countries based on the study and analysis of existing literature and combined with the research results and practices of high speed railway subgrade engineering at home and abroad.

It is found that in foreign countries, the layered reinforced structure is generally adopted for the subgrade bed of high speed railways, and the unified double-layer or multi-layer structure is adopted for the surface layer of subgrade bed, while the simple structure is adopted in China; in foreign countries, different inspection parameters are adopted to evaluate the compaction state of fillers according to their respective understanding and practice, while in China, compaction coefficient, subsoil coefficient and dynamic deformation modulus are adopted for such evaluation; in foreign countries, the subgrade top deformation control method, the subgrade bottom deformation control method, the subsurface fill strength control method are mainly adopted in subgrade bed structure design of high speed railways, while in China, dynamic deformation control of subgrade surface and dynamic strain control of subgrade bed bottom layer is adopted in the design. However, the cumulative deformation of subgrade caused by train cyclic vibration load is not considered in the existing design methods.

This paper introduces a new subgrade structure design method based on whole-process dynamics analysis that meets subgrade functional requirements and is established on the basis of the existing research at home and abroad on prediction methods for cumulative deformation of subgrade soil.

This study aims to design a controller which can improve the end-effector low-frequency chattering resulting from the measurement noise and the time delay in the on-orbit tasks. The rendezvous point will move along the rendezvous ring owing to the error of the camera, and the manipulators’ collision need be avoided. In addition, owing to the dynamics coupling, the manipulators’ motion will disturb the spacecraft, and the low tracking accuracy of the end-effector needs to be improved.

This paper proposes a minimum disturbance controller based on the synchronous and adaptive acceleration planning to improve the tracking error and the disturbance energy. The synchronous and adaptive acceleration planning method plans the optimal rendezvous point and designs synchronous approaching method and provides an estimation method of the rendezvous point acceleration. A minimum disturbance controller is designed based on the energy conservation to optimize the disturbance resulting from the manipulator’s motion.

The acceleration planning method avoids the collision of two end-effectors and reduces the error caused by the low-frequency chattering. The minimum disturbance controller minimizes the disturbance energy of the manipulators’ motion transferred to the spacecraft. Experiment results show that the proposed method improves the low-frequency chattering, and the average position tracking error reduces by 30%, and disturbance energy reduces by 30% at least. In addition, it has good performances in the synchronous motion and adaptive tracking.

Given the immeasurability of the target satellite acceleration in space, this paper proposes an estimation method of the acceleration. This paper proposes a synchronous and adaptive acceleration planning method. In addition, the rendezvous points are optimized to avoid the two end-effectors collisions. By the energy conservation, the minimum disturbance controller is designed to ensure a satisfying tracking error and reduce the disturbance energy resulting from the manipulators’ motion.

The purpose of this paper is to examine how innovation-related firm-specific ownership advantage (FSA) plays a role in developing the competitive advantage of Chinese multinationals when they internationalize.

Based on a review of the existing literature concerning foreign direct investment by emerging economy multinational enterprises (EMNEs), the authors identify that numerous studies explain this phenomenon on the basis of their location-bound country-specific advantages. However, such views do not fully explain the key underlying factors behind the rapid rise and success of many EMNEs as these firms rapidly internationalize and develop global competitiveness in developed markets. The current research explores three leading innovative Chinese EMNEs from the engineering sector: BYD, Sany Heavy Industry and CSR China.

The authors find that EMNEs’ knowledge, and particularly their innovation-creating technological knowledge, has contributed greatly to their successful internationalization. The illustrative cases show that the three firms have now moved beyond the infant to the mature stage of EMNE development through developing their technological knowledge in order to realize FSA through internationalization. This study helps in contributing fresh reflections to the continuing debate concerning the causes of internationalization and global competitive development by EMNEs and the role of their FSAs in these processes.

This is one of the few studies which have demonstrated that some of the EMNEs do possess firms’ specific advantage which helps explain their innovative capabilities, competitive advantages and subsequent internationalization patterns.

Suggests that misunderstandings frequently occur when trying to understand Chinese language and culture, and so gives the implied meaning of various Chinese expressions and sayings such as greetings, thanks, respect, age, congratulations and taboo subjects.

The purpose of this paper is to present the design and experiment of a universal space-saving end-effector for multi-task operations.

The universal end-effector is equipped with capture and actuation transmission capabilities with two corresponding subsystems, which are highly integrated systems of mechanics, electronics and sensors. A trefoil-shaped capture system is developed for closed envelop. The worm gear pair is adopted for self-locking and space-saving, and it is used in a unique manner for three grapple chains’ synchronous motion. The combination of optimal straight path linkage and pantograph mechanism is proposed in the transmission system. The electrical structure and the multi-sensory system provide the foundation for control strategy.

Simulations and experiments demonstrated characteristics of the universal end-effector. The compliance of the manipulator guaranteed the achievement of “soft capture” by the end-effector. Due to the self-locking property, the end-effector and the grapple interface could keep rigid connection when powered off.

The design process takes practical requirements into consideration. Through experiments, it is proved that the proposed end-effector can be used for the multi-task operations with corresponding tools.

Among end-effectors with operation function, the misalignment tolerance (MT) is originally regarded as a key factor. The adoptions of the worm gear pair and the linkage make it space-saving compared to conventional designs.

45 steel is a common material for the manufacture of various components such as shafts or gears. However, its poor surface properties often limit its applications. The purpose of this paper is to find a way to enhance the surface performance of 45 steel, which is expected to improve the wear resistance of 45 steel.

Double glow plasma surface metallurgy technique was used to prepare hafnium carbide (HfC) coatings on the surface of the 45 steel with two preparation process; one is to diffuse two elements together, while the other is to diffuse step by step. The scanning electronic microscopy and the X-ray diffraction were used to analyze the morphology and phase of the HfC coatings. And then the wear tests were carried out for this coating.

Coating diffused step by step shows better performance; it has a 15-µm alloyed layer which is uniform and dense and its hardness can reach up to 1326.5 Vickers-hardness (HV). While the coating fabricated by diffusing elements together owns a 10-µm alloyed layer and its hardness is 1204.1 HV. According to the wear test results, both coatings have a protective effect on the substrate and the coating prepared by step-by-step diffusion process has less wear volume, indicating that it possesses better friction reduction.

A new method which diffuses elements together was successfully used to prepare compound HfC coating, which can reduce the cost of coating preparation and improve the efficiency of coating preparation.