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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 purpose of this paper is to present systematic optimal design procedures for the Gough-Stewart platforms used as engineering motion simulators.

Three systematic optimal design procedures are proposed to solve the engineering design problems for the Gough-Stewart platform used as motion simulators. In these systematic optimal design procedures, two contradicting design optimality criteria with good representations of performances of the Gough-Stewart platforms are chosen as the objective functions. In addition, the two objective function optimization problems are solved by using the multi-objective evolutionary algorithms.

In the systematic optimal design procedures, multiple compromised design solutions are found by using Elitist Non-Dominated Sorting Genetic Algorithm version II in the primary design stage, and many candidates can be used in the secondary design stage for higher decisions. Two higher decision methods have been presented to choose the final solutions.

This paper proposes three systematic optimal design procedures to solve the practical design problems of the Gough-Stewart platforms used as motion simulators, which are very important for the engineering designers.

Sinusoidal signals are often used as the inputs of the six degree of freedom (DOF) motion simulator platforms. The purpose of this paper is to propose a fuzzy incremental controller (FIC) to improve sinusoidal signal tracking performances of an electrohydraulic Gough-Stewart platform (GSP).

An FIC is proposed to control an electrohydraulic GSP without any model parameters. The FIC output can be self-organized by only using the hydraulic actuator position information. The control rules are determined by a systematic deterministic method.

Experimental results show that the proposed FIC is valid and can achieve better tracking performances compared with classical PID controller and a decoupling controller (a model-based controller).

An FIC using a systematic deterministic rule-base determination method is proposed to improve sinusoidal signal tracking performances of electrohydraulic GSP.

This chapter aims to investigate and interpret China’s educational aid by analyzing its history, philosophies, and practices in Africa. The study is based on review and analysis of governmental documents, reports, academic papers, and news by Chinese and foreign scholars on China’s aid, particularly educational aid to Africa. The analysis unveils three transformations of China’s aid “from pro-ideology to de-ideology,” “from single area to multiple areas,” and “from pragmatic economy driven to sustainable and humane economy focused” in Africa. Meanwhile, it indicates a continuity of the philosophy of solidarity, morality, and reciprocity in China’s South-South cooperation with African educational development.

The analysis also shows China’s educational aid does not match well with the framework of the Western donors. China, under the FOCAC framework, is devoted to higher education cooperation, human resources training program, scholarship, and Chinese language education with African partners. With the growth of its economic and political influence, China will play multiple roles as the biggest developing country and as an active promoter and provider for South-South cooperation in the negotiation and construction of the post-2015 agenda. Nevertheless, we assume China will keep a pragmatic higher education cooperation with its developing country partners to inclusively link it with business, technology transfer, and people-to-people exchange.

This study delivers a comprehensive review and analysis of paradigm shift, philosophy, mechanism, and practice of China’s educational aid to Africa to fill up the literature gap in this field. It also timely presents China’s stance toward discussion on the post-2015 agenda.

Since China began its market-oriented economic reform in 1979, government budget deficits have been a fact of life. On one hand, the share of resources owned or controlled by the government must be shrunk in order to create a favorable environment for the development of the market economy. On the other hand, the government still performs many responsibilities required by the traditional planed economy. After calculating government budget deficits and analyzing their causes, the article assesses the impacts of government budget deficits and predicts the future of deficits in China.

Since China began its market-oriented economic reform in 1979, government budget deficits have been a fact of life. On one hand, the share of resources owned or controlled by the government must be shrunk in order to create a favorable environment for the development of the market economy. On the other hand, the government still performs many responsibilities required by the traditional planed economy. After calculating government budget deficits and analyzing their causes, the article assesses the impacts of government budget deficits and predicts the future of deficits in China.

The force sensing is used in robotic assembly tasks. The sensors developed are much advanced and costly. The force transducers are generally configured and deployed at the wrist of the robotic arm. The purpose of this paper is to describe the concept of an elastic transducer to make available cost-effective force sensor with simple construction and analysis.

The analytical formulation is developed herewith for one-, two- and three-axis elastic cantilever configuration. The force to be measured can be calculated analytically using derived strain expressions. The strains are estimated using proposed formulation, further crosschecked through FEA approach. The analytical method for strain estimation using moment equations is presented along with validation using finite element method (FEM) tool (ANSYS 15.0) with the case study.

The derivation of expressions for force components from strains is developed. The resulting formulation found to confirm the estimated strains from analytical methods closely to the FEM results. Theoretically, it is possible to find contact forces and angle of force on stationary force platform. It is found that the magnitude of estimated contact forces is within 1 per cent deviations.

The mathematical modeling and FEA simulation of the three-axis force sensor under elastic (no deformation) conditions.

These sensors are ranging from simple crossbar structure to Stewart platform type. The subsequent development in this field pertains to performance enhancement such as accuracy and cross-sensitivity. The basic structure of the sensor has not changed drastically. The major problem, as discussed by many authors, is a complex interdependence of six components and intricate geometrical structure. Derivation of expressions for force components from strains is a breakthrough contribution by the authors. The analytical treatment for finding the strains is aimed in this paper.

Poverty alleviation has been a major theme of China's modernization process since the founding of New China. This paper points out that China's poverty alleviation process presents three stylized facts: “Miraculous” achievements of poverty alleviation have been made on a global scale; the poverty alleviation achievements mainly occurred in the high growth stage after reform and opening up; the poverty alleviation process is accompanied by the structural transformation of the urban–rural dual economy.

Therefore, a logically consistent analytical framework should form among the structural transformation of the dual economy, economic growth and the achievements in poverty alleviation. In logical deduction, the structural transformation of the dual economy affects rural poverty alleviation through the effects of labor reallocation, agricultural productivity improvement, demographic change and fiscal resource allocation.

The first two refer to economic growth, and the latter two are alleviation policies. The combination of economic growth and poverty alleviation policies is the main cause for poverty alleviation performance. China's empirical evidence can support the four effects by which the structural transformation of the dual economy affects poverty alleviation.

China's socialist system and its economic system transformation after reform and opening up provide an institutional basis for the effects to come into play. After 2020, China's poverty alleviation strategies will enter the “second-half” phase, namely, the phase of solving the problems of relative poverty in urban and rural areas by adopting conventional methods and establishing long-term mechanisms. This requires the facilitation of the reconnection between poverty alleviation strategies and the structural transformation of the dual economy in terms of development ideas and policy directions.

As an essential part of mainstream Western development economics, the trickle-down theory originates from the behavioral choices and iterations of thought on conflicts of interest in the evolution of remuneration structure in Western countries. The fundamental flaw of the logic of this theory is that it conceals the inherent implication of social systems and the essential characteristics of social structures.

This paper examines the relationships among economic growth, income distribution and poverty from the perspective of social relations of production – the nature of production relations determines the nature of distribution relations and further determines the essence of trickle-down development, and ownership is the core mechanism for realizing the trickle-down effect.

The stagnation or smoothness of the trickle-down effect in different economies is essentially subject to the logic of “development for whom”, which is determined by ownership relationship.

To be more specific, “development for capitalists” and “development for the people” indicate two distinctly different economic growth paths. The former starts with private ownership and follows a bottom-up negative trickle-down path that inevitably leads to polarization, while the latter starts with public ownership and follows a top-down positive trickle-down path that will lead to common prosperity in the end.