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Uncertainty can arise for a manipulator because its motion can deviate unpredictably from the assumed dynamical model and because sensors might provide information regarding the system state that is imperfect because of noise and imprecise measurement. This paper aims to propose a method to estimate the probable error ranges of the entire trajectory for a manipulator with motion and sensor uncertainties. The aims are to evaluate whether a manipulator can safely avoid all obstacles under uncertain conditions and to determine the probability that the end effector arrives at its goal area.

An effective, analytical method is presented to evaluate the trajectory error correctly, and a motion plan was executed using Gaussian models by considering sensor and motion uncertainties. The method used an integrated algorithm that combined a Gaussian error model with an extended Kalman filter and a linear–quadratic regulator. Iterative linearization of the nonlinear dynamics was used around every section of the trajectory to derive all of the prior probability distributions before execution.

Simulation and experimental results indicate that the proposed trajectory planning method based on the motion and sensor uncertainties is indeed highly convenient and efficient.

The proposed approach is applicable to manipulators with motion and sensor uncertainties. It helps determine the error distribution of the predefined trajectory. Based on the evaluation results, the most appropriate trajectory can be selected among many predefined trajectories according to the error ranges and the probability of arriving at the goal area. The method has been successfully applied to a manipulator operating on the Chinese Space Station.

The purpose of the paper is to investigate compensation and related welfare issues in the case of the expropriation of land for urban redevelopment in China.

A mixed methods quantitative and qualitative approach was selected to undertake the research. This involved a wide ranging qualitative review of the academic and policy literature to explore the relevant arguments and issues, combined with a quantitative regression analysis of survey data collected from research subjects.

The research identified the complex and changeable phenomena of urban village redevelopment in China, and the variable compensation arrangements used. The research found that monthly family income before land expropriation, monthly family expense before expropriation, the location of the housing expropriation and family unit size are important determinants for the property holders chosen methods of compensation. It also found that an increase in family size leads to a decreasing probability that the expropriated farmers choose the single monetary compensation relative to the alternative option of housing compensation. The degree of satisfaction with compensation, changes in monthly family income and expense are found to be significant determinants for changes in life satisfaction.

The research made the following four recommendations based upon the qualitative and quantitative analysis: that local governments should pay closer governance/ political attention to changes in the welfare of the farmers/ villagers whose property has been expropriated; that central and local government should aim to improve the compensation system for rural land and property expropriation, to make the compensation policy be perceived as fairer and more reasonable by citizens; that a broad National standard of compensation be used within a pragmatic locally focussed regime; that the Chinese Central, Provincial and Local governments can devise improved policy tools and make more effective policy interventions by learning from the experiences (both successes and failures) of other countries approaches to this topic. It also suggested that further research be undertaken investigating the multitude of local level policy experiments, as a way of developing better National compensation standards based upon those compensation standards that appear to be working – and have citizen support – at the local level.

The literature review identified recent developments in Chinese urban studies and originally synthesised both recent and longstanding work on the issue of urban villages in China. The research also suggested changes to the National and Local legal and policy framework for compensation cases in urban redevelopment expropriation scenarios.

Due to the rapid urbanization in China, the living environment in urban areas improves considerably, while that in rural settlements does not improve remarkably, or even worsens. The purpose of the research is to propose an organizational approach to the improvement of the living environment in the poverty-stricken rural settlements and an architectural design pattern under a variety of requirements in the context of China’s rapid urbanization and socio-economic development in the redevelopment of rural settlements in Yongsheng Village, Lizhuang Town, Yibin City of Sichuan Province in Southwest China. In this redevelopment project, the architects, as the important third party, are not just architects in the traditional sense in that they are involved in the organizational process and architectural design throughout the whole project. The redevelopment project has been completed, and is aimed at providing a scientific redevelopment model and a design method for other rural residents by guiding them in the improvement of their living environment under a variety of restrictions.

To overcome the shortcomings of traditional dynamic parameter identification methods in accuracy and efficiency, this paper aims to propose a dynamic parameter identification method based on improved iterative reweighted least squares (IIRLS) algorithm.

First, Newton–Euler method is used to establish the dynamic model of the robot, which is linearized and reorganized. Then, taking the improved Fourier series as the excitation trajectory, the optimization model with objective function is established and optimized. Then, the manipulator runs the optimized trajectory and collects the running state of the joint. Finally, the iterative process of iterative reweighted least squares (IRLS) algorithm is improved by combining clustering algorithm and matrix inversion operation rules, and the dynamic model of robot is identified by using the processed collected data.

Experimental results show that, compared with the IRLS algorithm, the root mean square of the proposed IIRLS algorithm is reduced by 4.18% and the identification time is reduced by 94.92% when the sampling point is 1001. This shows that IIRLS algorithm can identify the dynamic model more accurately and efficiently.

It effectively solves the problem of low accuracy and efficiency of parameter identification in robot dynamic model and can be used as an effective method for parameter estimation of robot dynamic model, which is of great significance to the research of control method based on robot model.

Since the opening of China (aka, reform and opening-up), a great number of rural residents have migrated to large cities in the past 40 years. Such a one-way population inflow to urban areas introduces nontrivial social conflicts between urban natives and migrant workers. This study aims to investigate the most discussed topics about migrant workers on Sina Weibo along with the corresponding sentiment divergence.

An exploratory-descriptive-explanatory research methodology is employed. The study explores the main topics on migrant workers discussed in social media via manual annotation. Subsequently, guided LDA, a semi-supervised topic modeling approach, is applied to describe the overall topical landscape. Finally, the authors verify their theoretical predictions with respect to the sentiment divergence pattern for each topic, using regression analysis.

The study identifies three most discussed topics on migrant workers, namely wage default, employment support and urban/rural development. The regression analysis reveals different diffusion patterns contingent on the nature of each topic. In particular, this study finds a positive association between urban/rural development and the sentiment divergence, while wage default exhibits an opposite relationship with sentiment divergence.

The authors combine unique characteristics of social media with well-established theories of social identity and framing, which are applied more to off-line contexts, to study a unique phenomenon of migrant workers in China. From a practical perspective, the results provide implications for the governance of urbanization-related social conflicts.

This paper aims to use redundant manipulators to solve the challenge of collision avoidance in construction operations such as welding and painting.

In this paper, a null-space-based task-priority adjustment approach is developed to avoid collisions. The method establishes the relative position of the obstacle and the robot arm by defining the “link space,” and then the priority of the collision avoidance task and the end-effector task is adjusted according to the relative position by introducing the null space task conversion factors.

Numerical simulations demonstrate that the proposed method can realize collision-free maneuvers for redundant manipulators and guarantee the tracking precision of the end-effector task. The experimental results show that the method can avoid dynamic obstacles in redundant manipulator welding tasks.

A new formula for task priority adjustment for collision avoidance of redundant manipulators is proposed, and the original task tracking accuracy is guaranteed under the premise of safety.

Swivel construction is a new bridge construction method, which can minimize the impact on railway and highway traffic. Previous studies were based on single factor and static analysis, which cannot reflect the real state of structures. The purpose of this paper is to establish a dynamic model of the structure and to analyze the situation under multi-variable coupling effects to accurately simulate the real state of the structure.

Finite element software ANSYS was used to establish dynamic model of turntable structure and then to analyze the effects of multiple factors on total stress, friction stress and slipping distance of the turntable structure.

It is concluded that the unbalanced weight and radius of spherical hinges have great influence on the turntable structure, so the design should be strictly considered. Friction stress and angular acceleration have little effect on the turntable structure.

This paper provides simulation of the whole process of swivel construction method. Whereas previous studies focused on static analysis, this paper focuses on the dynamic analysis of swivel construction method. The mechanics of the swivel structure under multiple factors was analyzed. According to the analysis results, the design parameters of the turntable structure are optimized.

Although there is a growing number concerning articles/papers on China’s ‘One Belt, One Road’ (OBOR), it is difficult to find comprehensive research regarding the economic background in spite of the OBOR initiative involving multi-dimensional considerations. Although China targets to become a soft power leader by reviving the spirit of the old Silk Road, the OBOR is a large-scale investment project, whose rate of investment (ROI) is important for sustainability. Since new infrastructure in isolated regions is likely to be used less frequently, anticipated profitability is low. In spite of this risk, China promotes the OBOR for its economic and political purposes. China will promote the OBOR in spite of the U.S. withdrawal from TPP membership, since boosting aggregate demand is of critical importance for the country. This paper analyzes the economic background of the OBOR, which establishes China’s own model of regional integration, eases unemployment, and internationalizes its currency. Finally, this paper discusses diverse risks for China in the process of implementing the OBOR.

The main purpose of this paper is to investigate drivers and barriers of climate change mitigation strategies (CCMS), their linkages and impact in Indian Iron and Steel Industry (IISI) in light of ninth sustainable development goal (building resilient infrastructure, promote sustainable industrialization and foster innovation).

To identify relevant drivers and barriers, a thorough literature review and opinions of industry experts were obtained. Utilizing Total Interpretive Structural Modeling (TISM), the selected drivers and barriers were modeled separately along with Cross Impact Matrix-multiplication Applied to Classification (MICMAC).

Pragmatic and cost-effective technology, less supply chain complexity, robust policy and legal framework were found to have the highest driving power over all the other drivers. Findings suggest political pressure as the most critical barrier in this study. The results from TISM and MICMAC analysis have been used to elucidate a framework for the understanding of policymakers and achieve top management commitment.

This paper will help researchers, academicians, industry analysts and policymakers in developing a systems approach in prioritizing CCMS in energy-intensive (coal dependent) iron and steel plants. The model outcomes of this work will aid operational research to understand the working principles in other industries as well.

To the best of authors' knowledge, there is paucity of reported literature for the drivers and barriers of CCMS in iron and steel industry. This paper can be considered a unique, first attempt to use data from developing nations like India to develop a model and explain relationships of the existing drivers and barriers of CCMS.

Straightness measurement of rail weld joint is of essential importance to railway maintenance. Due to the lack of efficient measurement equipment, there has been limited in-depth research on rail weld joint with a 5-m wavelength range, leaving a significant knowledge gap in this field.

In this study, the authors used the well-established inertial reference method (IR-method), and the state-of-the-art multi-point chord reference method (MCR-method). Two methods have been applied in different types of rail straightness measurement trollies, respectively. These instruments were tested in a high-speed rail section within a certain region of China. The test results were ultimately validated through using traditional straightedge and feeler gauge methods as reference data to evaluate the rail weld joint straightness within the 5-m wavelength range.

The research reveals that IR-method and MCR-method produce reasonably similar measurement results for wavelengths below 1 m. However, MCR-method outperforms IR-method in terms of accuracy for wavelengths exceeding 3 m. Furthermore, it was observed that IR-method, while operating at a slower speed, carries the risk of derailing and is incapable of detecting rail weld joints and low joints within the track.

The research compare two methods’ measurement effects in a longer wavelength range and demonstrate the superiority of MCR-method.